Method, device, equipment and storage medium for determining regional boundaries

Abstract

The embodiment of the present invention discloses a method, device, computer equipment and storage medium for determining regional boundaries, the method comprising: obtaining multiple track points of unmanned equipment in a target area; generating multiple circumscribed rectangles according to the multiple track points and the spray width of the unmanned equipment, and generating the regional boundaries of the target area according to the multiple circumscribed rectangles. The technical solution of the embodiment of the present invention provides a new way to determine regional boundaries, avoiding various problems caused by determining regional boundaries by manual surveying and mapping, completely avoiding the investment of labor costs, and improving the efficiency of generating regional boundaries.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of image processing technology, and in particular, to a method, device, computer equipment and storage medium for determining a region boundary. Background Art

[0002] With the continuous development of unmanned equipment technology, more and more people choose agricultural unmanned equipment for agricultural and forestry plant protection operations. Agricultural unmanned equipment can operate automatically according to the pre-planned operation route in the fully automatic operation mode. Taking drones as an example, agricultural drones can perform corresponding spraying operations on the flight path after obtaining the flight route, such as spraying pesticides, seeds, or powders.

[0003] Before controlling agricultural unmanned equipment to perform automatic operations in a fully automatic mode, the prior art needs to first map the land to be operated to obtain the operation boundary, and then generate an operation route based on the operation boundary and provide it to the agricultural unmanned equipment. The above-mentioned land mapping process requires manual field mapping using surveying tools, which has high labor costs, is time-consuming, and has low efficiency in generating the operation boundary. Summary of the invention

[0004] The embodiments of the present invention provide a method, an apparatus, a computer device and a storage medium for determining a region boundary, so as to provide a new way to determine the region boundary of a target region and improve the efficiency of generating the region boundary.

[0005] In a first aspect, an embodiment of the present invention provides a method for determining a region boundary, comprising:

[0006] Obtain multiple trajectory points of unmanned equipment in the target area;

[0007] A plurality of circumscribed rectangles are generated according to the plurality of trajectory points and the spray width of the unmanned equipment, and a region boundary of the target region is generated according to the plurality of circumscribed rectangles.

[0008] Optionally, generating a plurality of circumscribed rectangles according to the plurality of trajectory points and the spray width of the unmanned equipment, and generating a region boundary of the target region according to the plurality of circumscribed rectangles, comprises:

[0009] According to the local routes formed by two adjacent trajectory points and the spray width of the unmanned equipment, the circumscribed rectangles corresponding to the local routes are generated, and the circumscribed polygons of the complete route are generated according to the circumscribed rectangles;

[0010] The region boundary of the target region is generated according to the circumscribed polygon.

[0011] Optionally, obtain multiple track points of the unmanned equipment in the target area, including:

[0012] Acquire the multiple track points formed after the unmanned equipment performs a fully controlled operation in the target area; or

[0013] The multiple trajectory points formed after the unmanned equipment performs semi-controlled operations in the target area are obtained.

[0014] Optionally, according to the local route formed by two adjacent trajectory points and the spray width of the unmanned equipment, a circumscribed rectangle corresponding to the local route is generated, including:

[0015] Get the target local route consisting of two adjacent trajectory points currently being processed;

[0016] A circumscribed rectangle matching the target partial route is generated by taking the target partial route as the long side midline and the spray width as the wide side length.

[0017] Optionally, before generating the circumscribed polygon of the complete route according to each circumscribed rectangle, the method further includes:

[0018] If it is determined that there is a special-shaped gap between the circumscribed rectangles corresponding to two adjacent partial routes, a new filling polygon is generated for filling the special-shaped gap;

[0019] Generate the enclosing polygon of the complete route based on each enclosing rectangle, including:

[0020] The circumscribed rectangles and the filled polygons are combined to obtain a circumscribed polygon matching the complete route.

[0021] Optionally, if it is determined that there is a special-shaped gap between the circumscribed rectangles corresponding to two adjacent partial routes, generating a new filling polygon for filling the special-shaped gap includes:

[0022] Acquire a first circumscribed rectangle and a second circumscribed rectangle respectively corresponding to a first partial route and a second partial route adjacent to each other, wherein the first partial route and the second partial route have a common target trajectory point;

[0023] If the inner angle between the first partial route and the second partial route is greater than or equal to the set threshold, obtaining a first outer edge and a second outer edge in the first circumscribed rectangle and the second circumscribed rectangle respectively;

[0024] A filled polygon is formed according to the first outer extension edge and the second outer extension edge.

[0025] Optionally, obtaining a first outer edge and a second outer edge in the first circumscribed rectangle and the second circumscribed rectangle respectively includes:

[0026] In the first circumscribed rectangle, obtaining a rectangular side that faces away from the inner corner and is parallel to the first local route as the first outer edge;

[0027] In the second circumscribed rectangle, a rectangular side that faces away from the inner corner and is parallel to the second local route is obtained as the second outer edge.

[0028] Optionally, forming a filled polygon according to the first outer extension edge and the second outer extension edge includes:

[0029] Extending the first outer edge and the second outer edge toward the target track point respectively;

[0030] The polygon formed by extending the first outer edge and the second outer edge together with the first circumscribed rectangle and the second circumscribed rectangle is used as the filled polygon.

[0031] Optionally, according to the local routes formed by two adjacent trajectory points and the spray width of the unmanned equipment, a circumscribed rectangle corresponding to each local route is generated, and a circumscribed polygon of the complete route is generated according to each circumscribed rectangle, including:

[0032] Acquire a first track point as a first track point, and acquire a second track point adjacent to the first track point from each track point along the operation track;

[0033] Connecting the first trajectory point and the second trajectory point to generate a third partial route, and generating a third circumscribed rectangle matching the third partial route;

[0034] Acquire a third track point adjacent to the second track point from among the track points along the operation track;

[0035] Connect the second trajectory point and the third trajectory point to generate a fourth partial route, and generate a fourth circumscribed rectangle matching the fourth partial route;

[0036] If the inner angle between the third partial route and the fourth partial route is less than the set threshold, the second track point is used as a new first track point, the fourth circumscribed rectangle is used as a new third circumscribed rectangle, and the third track point is used as a new second track point, and then the operation of obtaining a third track point adjacent to the second track point from each track point along the working track is returned to be executed until all track points are processed;

[0037] If the inner angle between the third partial route and the fourth partial route is greater than or equal to the set threshold, obtaining a third outer edge and a fourth outer edge in the third circumscribed rectangle and the fourth circumscribed rectangle respectively;

[0038] Extending the third outer edge and the fourth outer edge toward the direction of the common track point in the third partial route and the fourth partial route respectively;

[0039] The polygon formed by extending the third outer edge and the fourth outer edge, the third circumscribed rectangle and the fourth circumscribed rectangle is used as a filled polygon;

[0040] After taking the second track point as a new first track point, taking the fourth circumscribed rectangle as a new third circumscribed rectangle, and taking the third track point as a new second track point, returning to perform an operation of acquiring a third track point adjacent to the second track point from each track point along the working track until all track points are processed;

[0041] The circumscribed rectangles and the filled polygons are combined to generate a circumscribed polygon matching the complete route.

[0042] Optionally, generating a region boundary of the target region according to the circumscribed polygon includes:

[0043] The outer boundary of the circumscribed polygon is used as the area boundary of the target area.

[0044] In a second aspect, an embodiment of the present invention further provides a device for determining a region boundary, including:

[0045] A track point acquisition module is used to acquire multiple track points of the unmanned equipment in the target area;

[0046] The area boundary generation module is used to generate a plurality of circumscribed rectangles according to the plurality of trajectory points and the spray width of the unmanned equipment, and to generate an area boundary of the target area according to the plurality of circumscribed rectangles.

[0047] In a third aspect, an embodiment of the present invention further provides a computer device, the computer device comprising:

[0048] one or more processors;

[0049] A storage device for storing one or more programs;

[0050] When the one or more programs are executed by the one or more processors, the one or more processors implement the method for determining the region boundary provided by any embodiment of the present invention.

[0051] In a fourth aspect, an embodiment of the present invention further provides a computer storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for determining the region boundary provided by any embodiment of the present invention.

[0052] The embodiment of the present invention obtains multiple trajectory points of unmanned equipment in the target area; generates multiple circumscribed rectangles according to the multiple trajectory points and the spray width of the unmanned equipment; and generates the area boundary of the target area according to the multiple circumscribed rectangles. This technical means provides a new method for determining the area boundary of the target area, avoids various problems caused by determining the area boundary by manual surveying and mapping, completely avoids the investment of manpower costs, saves a lot of surveying and mapping time, and improves the efficiency of generating area boundaries. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 is a flow chart of an implementation method for determining a region boundary provided in the first embodiment of the present invention;

[0054] Figure 2a is a flow chart of an implementation method of a region boundary determination method provided in Embodiment 2 of the present invention;

[0055] Figure 2b is a schematic diagram of trajectory points, partial routes and complete routes applicable to the second embodiment of the present invention;

[0056] Figure 2c This is a schematic diagram of determining a local route by two adjacent trajectory points applicable to the second embodiment of the present invention;

[0057] Figure 2d This is a schematic diagram of determining a circumscribed rectangle based on a local route applicable to the second embodiment of the present invention;

[0058] Figure 3a is a flow chart of an implementation method of a region boundary determination method provided in Embodiment 3 of the present invention;

[0059] Figure 3b This is a schematic diagram of a case where there is no irregular gap between the circumscribed rectangles corresponding to two adjacent partial routes applicable to the third embodiment of the present invention;

[0060] Figure 3c This is a schematic diagram showing a situation in which a special-shaped gap exists between the circumscribed rectangles corresponding to two adjacent local routes applicable to the third embodiment of the present invention;

[0061] Figure 3d This is a schematic diagram of generating a new filling polygon for filling the irregular-shaped gap applicable to the third embodiment of the present invention;

[0062] Figure 3e is a schematic diagram of a circumscribed polygon obtained by combining a circumscribed rectangle and a filled polygon applicable to the third embodiment of the present invention;

[0063] Figure 3fis a schematic diagram applicable to the third embodiment of the present invention for generating the region boundary of the target region according to the circumscribed polygon;

[0064] Figure 4 is a flow chart of a method for determining a region boundary provided in a fourth embodiment of the present invention;

[0065] Figure 5 is a schematic diagram of the structure of a device for determining a region boundary provided in Embodiment 5 of the present invention;

[0066] Figure 6 A schematic diagram of the structure of a computer device provided in Embodiment 6 of the present invention. DETAILED DESCRIPTION

[0067] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention.

[0068] It should also be noted that, for ease of description, only the part relevant to the present invention but not all content is shown in the accompanying drawings. It should be mentioned before discussing exemplary embodiments in more detail that some exemplary embodiments are described as processing or methods depicted as flow charts. Although the flow chart describes each operation (or step) as sequential processing, many operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of each operation can be rearranged. When its operation is completed, the processing can be terminated, but it can also have additional steps not included in the accompanying drawings. The processing can correspond to methods, functions, procedures, subroutines, subprograms, etc.

[0069] Embodiment 1

[0070] Figure 1 This is a flow chart of a method for determining a region boundary provided by the first embodiment of the present invention. This embodiment is applicable to the case where the region boundary of a target region is generated based on multiple track points formed by the first operation of unmanned equipment in the target region. The method can be executed by a region boundary determination device, which can be implemented by software and / or hardware, and can generally be integrated in a terminal or server with data processing functions. Figure 1 As shown, the method includes the following operations:

[0071] S110: Acquire multiple track points of the unmanned equipment in the target area.

[0072] The target area specifically refers to an area where a regional boundary needs to be generated. The target area generally refers to an area where unmanned equipment needs to perform unmanned operations, such as farmland or orchards.

[0073] In this embodiment, the unmanned equipment does not need to map the plot information of the target area before operating for the first time. Instead, it can use manual control or semi-automatic control to control the unmanned equipment to operate, and record the trajectory points of the unmanned equipment during operation, and simultaneously record the spray width of the unmanned equipment.

[0074] The unmanned equipment may be any unmanned operation equipment such as a drone or an unmanned vehicle, and this embodiment does not limit this.

[0075] Accordingly, obtaining multiple track points of the unmanned equipment in the target area may include:

[0076] The multiple track points formed after the unmanned equipment performs a fully controlled operation in the target area are obtained; or the multiple track points formed after the unmanned equipment performs a semi-controlled operation in the target area are obtained.

[0077] Optionally, the information of the track point may be composed of information such as longitude, latitude, altitude, and timestamp. When the unmanned device adjusts its direction, the location of the unmanned device may be recorded as a track point, or the location of the unmanned device may be recorded at regular time intervals (5 minutes, or 10 minutes) as a track point.

[0078] Correspondingly, when the unmanned equipment completes the unmanned operation in the target area, the recorded trajectory points can be connected in ascending order according to the timestamps to form a complete route during this operation.

[0079] S120: Generate a plurality of circumscribed rectangles according to the plurality of trajectory points and the spray width of the unmanned equipment, and generate a region boundary of the target region according to the plurality of circumscribed rectangles.

[0080] Among them, the spray width of unmanned equipment specifically refers to the spray width of unmanned equipment, that is, the coverage width of pesticides or seeds sprayed by the unmanned equipment, which is generally measured in length (decimeters or meters, etc.).

[0081] In this embodiment, the inventor considers that when the unmanned equipment performs fully controlled or semi-controlled operations, the complete operating range of the unmanned equipment can be obtained through the complete route and spray width it passes through. Based on this, a technical solution is creatively proposed to directly determine the operating range as the range of the target area, and then directly generate the area boundary matching the target area.

[0082] Accordingly, in this embodiment, combined with the actual physical meaning of the spray width, a technical solution is creatively proposed: using each trajectory point of the unmanned equipment as a reference point, using the spray width of the unmanned equipment to construct multiple circumscribed rectangles, and constructing the area boundary of the target area based on the above multiple circumscribed rectangles.

[0083] Optionally, multiple trajectory point lines can be generated first based on multiple trajectory points, and then combined with the physical meaning of the spray width, the multiple trajectory point lines can be used as the center line of the long side of the rectangle, and the spray width can be used as the short side of the rectangle to construct multiple circumscribed rectangles that match the operating range of the unmanned equipment, and finally the regional boundary of the target area can be obtained.

[0084] Among them, firstly, multiple local routes (that is, trajectory point connections) can be formed by two or more adjacent trajectory points, and based on the multiple local routes and the spray width of the unmanned equipment, circumscribed rectangles corresponding to each local route are generated, and the circumscribed polygon of the complete route is generated according to each circumscribed rectangle;

[0085] Alternatively, in order to further reduce the number of generated bounding rectangles, multiple trajectory point lines can be first formed based on two adjacent trajectory points, and the angle values ​​between the adjacent trajectory point lines can be calculated respectively. If the angle values ​​between the multiple adjacent trajectory point lines calculated are all less than or equal to the preset angle threshold (for example, 3 degrees, or 5 degrees, etc.), it can be considered that the current unmanned device is flying along a straight line, and a bounding rectangle matching the straight line can be obtained based only on the first trajectory point and the last trajectory point on the straight line.

[0086] Alternatively, considering the frequency of collecting trajectory points, a bounding rectangle can be simply generated for every one or more trajectory points to reduce the number of generated bounding rectangles. Taking the example of generating a bounding rectangle for every other trajectory point, assuming that the multiple trajectory points of the unmanned equipment in the target area are trajectory point 1, trajectory point 2, trajectory point 3, trajectory point 4 and trajectory point 5, therefore, according to the connection line between trajectory point 1 and trajectory point 3, bounding rectangle 1 can be generated, the connection line between trajectory point 2 and trajectory point 4 can be used to generate bounding rectangle 2, and the connection line between trajectory point 3 and trajectory point 5 can be used to generate bounding rectangle 3.

[0087] It can be understood that the multiple circumscribed rectangles obtained in the embodiment of the present invention correspond to multiple local operating ranges of the unmanned equipment. By combining the above-mentioned local operating ranges, the complete operating range of the unmanned equipment, that is, the range of the target area, can be obtained.

[0088] Based on the multiple circumscribed rectangles, the method for generating the area boundary of the target area can be: calculating the intersection of each circumscribed rectangle, and directly using the calculation result as the area boundary of the target area. However, the area boundary obtained by the above processing method is likely to be an irregular (irregular, with gaps) working boundary, and it is very difficult to plan the working route in the target area based on the above area boundary. Therefore, after calculating the intersection, a circumscribed polygon (typically, a circumscribed rectangle or a circumscribed square, etc.) of the above intersection can be directly calculated as the area boundary of the target area.

[0089] Alternatively, the limit corner points in four directions may be calculated according to the corner points of each circumscribed rectangle, and the region boundary of the target region may be directly generated according to the connection lines between the adjacent limit corner points.

[0090] Of course, those skilled in the art may also adopt other methods to generate the region boundary of the target region, such as filling the irregular spaces between adjacent circumscribed rectangles to finally obtain a relatively regular boundary region, etc., and those skilled in the art are not limited to this.

[0091] The embodiment of the present invention obtains multiple trajectory points of unmanned equipment in the target area; generates multiple circumscribed rectangles according to the multiple trajectory points and the spray width of the unmanned equipment; and generates the area boundary of the target area according to the multiple circumscribed rectangles. This technical means provides a new method for determining the area boundary of the target area, avoids various problems caused by determining the area boundary by manual surveying and mapping, completely avoids the investment of manpower costs, saves a lot of surveying and mapping time, and improves the efficiency of generating area boundaries.

[0092] Embodiment 2

[0093] Figure 2a This is a flow chart of a method for determining a region boundary provided by the second embodiment of the present invention. This embodiment is applicable to the case where the region boundary of a target region is generated based on multiple track points formed by the first operation of unmanned equipment in the target region. The method can be executed by a region boundary determination device, which can be implemented by software and / or hardware, and can generally be integrated in a terminal or server with data processing functions. Figure 2a As shown, the method includes the following operations:

[0094] S210: Acquire multiple track points of the unmanned equipment in the target area.

[0095] S220, generating circumscribed rectangles corresponding to the local routes respectively formed by the two adjacent trajectory points and the spray width of the unmanned equipment, and generating circumscribed polygons of the complete route according to the circumscribed rectangles.

[0096] like Figure 2b As shown, after obtaining each track point obtained by the unmanned equipment during the unmanned operation, that is, track point 1, track point 2, track point 3, ..., track point 14, two track points adjacent in time can be connected according to the timestamp to obtain multiple local routes, that is, local route 1 between track point 1 and track point 2, local route 2 between track point 2 and track point 3, etc. By connecting N track points in pairs, a total of (N-1) local routes can be generated. The combination of each local route can constitute a complete route corresponding to the multiple track points, that is, the result obtained by connecting N-1 local routes end to end.

[0097] In this embodiment, a local operation range corresponding to each local route can be generated according to each local route and the spray width of the unmanned equipment, and then the local operation ranges are combined to obtain the final complete operation range. Based on the concept of spray width, a matching circumscribed rectangle can be generated for each local route as the local operation range.

[0098] In an optional implementation of the present embodiment, based on the local route formed by two adjacent trajectory points and the spray width of the unmanned equipment, a method for generating a circumscribed rectangle corresponding to the local route can be: obtaining a target local route formed by two adjacent trajectory points currently being processed; taking the target local route as the midline of the long side and the spray width as the wide side length, generating a circumscribed rectangle matching the target local route.

[0099] Specifically, Figure 2c As shown in , taking two adjacent track points 1 and 2 as examples, by connecting the two points, local route 1 can be obtained. Figure 2d As shown, with the local route 1 as the center line of the long side and the spray width of the unmanned equipment as the wide side length, a circumscribed rectangle corresponding to the local route can be generated, that is, the operating range formed when the unmanned equipment passes through the local route 1 during the operation process.

[0100] Of course, those skilled in the art will appreciate that, in addition to directly using the spray width as the width length, a set ratio of the spray width, such as 90% or 95%, may also be used as the width length, and this embodiment does not limit this.

[0101] In this embodiment, the circumscribed rectangles corresponding to the partial routes may be combined first, and the combined result may be directly used as the circumscribed polygon corresponding to the complete route.

[0102] Alternatively, considering that the unmanned equipment may turn or change direction during operation, there may be certain gaps between the adjacent multiple circumscribed rectangles obtained based on adjacent trajectory points, that is, the adjacent circumscribed rectangles cannot be closely connected.

[0103] Based on the above situation, after combining the circumscribed rectangles corresponding to the local routes, the boundary points corresponding to the combined results can be obtained, and finally a circumscribed rectangle corresponding to all the boundary points can be obtained as the circumscribed polygon corresponding to the complete route;

[0104] Alternatively, when it is determined that there is a gap between two adjacent circumscribed polygons, a new filling polygon can be generated according to a certain filling method to fill the gap, and then a figure without gaps can be combined according to the multiple circumscribed rectangles initially obtained and the one or more filled polygons obtained by filling, as the circumscribed polygon corresponding to the complete route, so as to simplify the subsequent process of generating the operation path.

[0105] S230: Generate an area boundary of the target area according to the circumscribed polygon.

[0106] In this embodiment, after the circumscribed polygon corresponding to the complete route is obtained, the outer boundary of the circumscribed polygon may be extracted, and the outer boundary may be used as the area boundary of the target area.

[0107] Correspondingly, after obtaining the boundary of the area, the operation route within the target area can be directly planned. When the unmanned equipment is subsequently operated unmanned, there is no need to perform controlled or semi-controlled operations. A fully automatic operation process can be performed directly according to the above operation route.

[0108] The embodiment of the present invention obtains multiple trajectory points of unmanned equipment in the target area; generates circumscribed rectangles corresponding to each local route according to the local routes formed by two adjacent trajectory points and the spray width of the unmanned equipment, and generates a circumscribed polygon of the complete route according to each circumscribed rectangle; and generates a technical means of generating the regional boundary of the target area according to the circumscribed polygon, thereby providing a new method for determining the regional boundary of the target area, avoiding various problems caused by determining the regional boundary by manual surveying and mapping, completely avoiding the investment of labor costs, and improving the generation efficiency of the regional boundary.

[0109] It needs to be emphasized again that by using the method of the embodiment of the present invention, when unmanned equipment operates on a certain plot of land, it can directly operate manually or semi-automatically without the need to manually survey the plot of land, thus saving a lot of time; at the same time, the boundaries of the operating area are also recorded after this operation, and the next time the area is operated, the recorded area boundaries can be used to automatically generate a route, thereby achieving fully automatic operation and greatly improving operating efficiency.

[0110] Embodiment 3

[0111] Figure 3a It is a flow chart of a method for determining a region boundary provided in the third embodiment of the present invention. This embodiment is embodied on the basis of the above embodiment. In this embodiment, before generating the circumscribed polygon of the complete route according to each circumscribed rectangle, it may also include: if it is determined that there is an irregular gap between the circumscribed rectangles corresponding to two adjacent partial routes, a new filling polygon is generated to fill the irregular gap; and the circumscribed polygon of the complete route is generated according to each circumscribed rectangle, which is embodied as: combining each circumscribed rectangle and each filling polygon to obtain a circumscribed polygon matching the complete route.

[0112] Correspondingly, such as Figure 3a As shown, the method of this embodiment may include:

[0113] S310: Acquire multiple track points of the unmanned equipment in the target area.

[0114] S320, generating circumscribed rectangles corresponding to the local routes respectively according to the local routes formed by the two adjacent trajectory points and the spray width of the unmanned equipment.

[0115] S330: If it is determined that there is an irregular gap between the circumscribed rectangles corresponding to two adjacent partial routes, generate a new filling polygon for filling the irregular gap.

[0116] Among them, when two adjacent circumscribed rectangles cannot be basically fitted directly, it can be determined that there is a special-shaped gap between the two circumscribed rectangles, that is, there is a gap. The inventor found through research that when the unmanned equipment undergoes a large-scale direction adjustment at a certain trajectory point, there will be the above-mentioned special-shaped gap between the circumscribed rectangle generated by the trajectory point and the previous trajectory point and the circumscribed rectangle generated by the trajectory point and the next trajectory point. Accordingly, by identifying the above-mentioned trajectory point, it is possible to determine the position where a filling polygon needs to be filled.

[0117] Furthermore, if a large direction adjustment occurs at a certain trajectory point, there will be a large angle between the local route formed by this trajectory point and the previous trajectory point, and the local route formed by this trajectory point and the next trajectory point. By comparing the angles between each adjacent local route, the filling position of the filling polygon can be found.

[0118] In an optional implementation of this embodiment, if it is determined that there is an irregular gap between the circumscribed rectangles corresponding to two adjacent partial routes, a method of generating a new filling polygon for filling the irregular gap may specifically include:

[0119] Acquire a first circumscribed rectangle and a second circumscribed rectangle respectively corresponding to a first partial route and a second partial route adjacent to each other, wherein the first partial route and the second partial route have a common target trajectory point;

[0120] If the inner angle between the first partial route and the second partial route is greater than or equal to the set threshold, obtaining a first outer edge and a second outer edge in the first circumscribed rectangle and the second circumscribed rectangle respectively;

[0121] A filled polygon is formed according to the first outer extension edge and the second outer extension edge.

[0122] In the above optional implementation, if Figure 3b As shown, if the inner angle between the local route 1 (corresponding to the first local route) and the local route 2 (corresponding to the second local route) is less than a set threshold value (for example, 1°, 3° or 5°, etc.), it can be considered that the local route 1 and the local route 2 are basically on a straight line, and then it can be determined that the circumscribed rectangle corresponding to the local route 1 and the circumscribed rectangle corresponding to the local route 2 can be basically fitted together, so there is no need to fill a new filling polygon between the above two circumscribed rectangles.

[0123] like Figure 3c As shown, if the inner angle between local route 1 and local route 2 is greater than the set threshold, the circumscribed rectangle corresponding to local route 1 and the circumscribed rectangle corresponding to local route 2 cannot be basically fitted together, and there will be a large abnormal gap between the two. Therefore, it is necessary to construct a new filling polygon to fill the irregular gap position.

[0124] In this embodiment, the inner angle between two partial routes specifically refers to the angle less than or equal to 180° among the two angles formed by the two partial routes.

[0125] In this embodiment, the first outer extension side specifically refers to a rectangular side in the first circumscribed rectangle, and the second outer extension side specifically refers to a rectangular side in the second circumscribed rectangle.

[0126] In a specific example, the first extension edge and the second extension edge may be rectangular edges in the first circumscribed rectangle and the second circumscribed rectangle that pass through the common target trajectory point in the first partial route and the second partial route, that is, Figure 3c As shown, in the two circumscribed rectangles, the two rectangular wide sides pass through trajectory point 2.

[0127] Accordingly, forming a filled polygon according to the first outer extension edge and the second outer extension edge may include:

[0128] In the two bounding rectangles, determine the two corner points that cannot fit or overlap, for example, Figure 3c The corner point A and the corner point B can further generate a filled quadrilateral (triangle) according to the line connecting the two corner points, the first outer extension edge, the second outer extension edge and the target trajectory point;

[0129] Alternatively, two new line segments may be directly determined based on the first extension edge, the second extension edge and the target trajectory point. For example, Figure 3c In the figure, line segment 1 formed by trajectory point 2 and corner point A, and line segment 2 formed by trajectory point 2 and corner point B, can form a parallelogram by using line segment 1 and line segment 2 as a filled quadrilateral.

[0130] In another specific example, obtaining the first outer edge and the second outer edge in the first circumscribed rectangle and the second circumscribed rectangle respectively may include:

[0131] In the first circumscribed rectangle, obtaining a rectangular side that faces away from the inner corner and is parallel to the first local route as the first outer edge;

[0132] In the second circumscribed rectangle, a rectangular side that faces away from the inner corner and is parallel to the second local route is obtained as the second outer edge.

[0133] Specifically, the positions of the first extension edge and the second extension edge are as follows: Figure 3d As shown, correspondingly, forming a filled polygon according to the first extension edge and the second extension edge may specifically include:

[0134] The first outer edge and the second outer edge are respectively extended toward the direction of the target trajectory point; the polygon formed by the first outer edge and the second outer edge after extension and the first circumscribed rectangle and the second circumscribed rectangle is used as a filled polygon.

[0135] According to the first outer side and the second outer side, a schematic diagram of forming a filled polygon is shown as follows: Figure 3d shown.

[0136] S340: Combine the circumscribed rectangles and the filled polygons to obtain a circumscribed polygon that matches the complete route.

[0137] Among them, Figure 3e A schematic diagram of a circumscribed polygon obtained by combining a circumscribed rectangle and a filled polygon is shown.

[0138] S350: Generate an area boundary of the target area according to the circumscribed polygon.

[0139] In this embodiment, the outer boundary of the circumscribed polygon can be used as the area boundary of the target area. Specifically, the longitude and latitude coordinates of each trajectory point inside the circumscribed polygon and the size of the spray width can be used to calculate the longitude and latitude coordinates of each boundary point in the outer boundary, and the area boundary of the target area can be determined by using the longitude and latitude coordinates of each boundary point.

[0140] Among them, Figure 3f A schematic diagram of generating the region boundary of the target region according to the circumscribed polygon is shown in FIG.

[0141] The technical solution of the embodiment of the present invention generates a new filling polygon for filling the irregular gap when determining that there is an irregular gap between the circumscribed rectangles corresponding to two adjacent partial routes, and combines the circumscribed rectangles formed by the partial routes and the filling polygons to obtain a circumscribed polygon matching the complete route. This ensures that the final area boundary does not include any gaps, and while ensuring that the polygon can cover the target area to the greatest extent, it also simplifies the subsequent process of generating an operation route corresponding to the target area.

[0142] Embodiment 4

[0143] Figure 4 This is a flow chart of a method for determining a regional boundary provided by the fourth embodiment of the present invention. This embodiment is specific based on the above embodiment. In this embodiment, according to the local routes composed of two adjacent trajectory points and the spray width of the unmanned equipment, the circumscribed rectangles corresponding to each local route are generated, and the complete process of generating the circumscribed polygon of the complete route according to each circumscribed rectangle is further refined. In this embodiment, a complete implementation flow chart of finally generating a circumscribed polygon matching the complete route by a loop is specifically provided.

[0144] Correspondingly, such as Figure 4 As shown, the method of this embodiment may include:

[0145] S410: After obtaining multiple track points of the unmanned equipment in the target area, the first track point is used as the first track point, and a second track point adjacent to the first track point is obtained from each track point along the operation track.

[0146] S420: Connect the first trajectory point and the second trajectory point to generate a third partial route, and generate a third circumscribed rectangle matching the third partial route.

[0147] S430: Acquire a third track point adjacent to the second track point from among the track points along the operation track.

[0148] S440 , connecting the second trajectory point and the third trajectory point to generate a fourth partial route, and generating a fourth circumscribed rectangle matching the fourth partial route.

[0149] S450, determining whether the inner angle between the third partial route and the fourth partial route is less than a set threshold value: if so, executing S460; otherwise, executing S470.

[0150] S460, determine whether the third track point is the last track point: if so, execute S4110; otherwise, execute S480.

[0151] S470. Obtain the third outer edge and the fourth outer edge in the third circumscribed rectangle and the fourth circumscribed rectangle respectively, and execute S490.

[0152] S480: After taking the second trajectory point as a new first trajectory point, taking the fourth circumscribed rectangle as a new third circumscribed rectangle, and taking the third trajectory point as a new second trajectory point, the process returns to S430.

[0153] S490, extending the third outer edge and the fourth outer edge toward the direction of the common trajectory point in the third partial route and the fourth partial route respectively, and executing S4100.

[0154] S4100, taking the polygon formed by extending the third outer edge and the fourth outer edge, the third circumscribed rectangle and the fourth circumscribed rectangle as a filled polygon, and executing S480.

[0155] S4110: Combine the circumscribed rectangles and the filled polygons to generate a circumscribed polygon that matches the complete route.

[0156] S4120: Generate an area boundary of the target area according to the circumscribed polygon.

[0157] The embodiment of the present invention obtains multiple trajectory points of unmanned equipment in the target area; generates circumscribed rectangles corresponding to each local route according to the local routes formed by two adjacent trajectory points and the spray width of the unmanned equipment, and generates a circumscribed polygon of the complete route according to each circumscribed rectangle; and generates a technical means of generating the regional boundary of the target area according to the circumscribed polygon, thereby providing a new method for determining the regional boundary of the target area, avoiding various problems caused by determining the regional boundary by manual surveying and mapping, completely avoiding the investment of labor costs, and improving the generation efficiency of the regional boundary.

[0158] Embodiment 5

[0159] Figure 5 is a schematic diagram of a device for determining a region boundary provided by Embodiment 5 of the present invention, such as Figure 5 As shown, the device includes: a trajectory point acquisition module 510 and an area boundary generation module 520, wherein:

[0160] A track point acquisition module 510 is used to acquire multiple track points of the unmanned equipment in the target area;

[0161] The area boundary generation module 520 is used to generate a plurality of circumscribed rectangles according to the plurality of trajectory points and the spray width of the unmanned equipment, and to generate an area boundary of the target area according to the plurality of circumscribed rectangles.

[0162] The embodiment of the present invention obtains multiple trajectory points of unmanned equipment in the target area; generates multiple circumscribed rectangles according to the multiple trajectory points and the spray width of the unmanned equipment; and generates the area boundary of the target area according to the multiple circumscribed rectangles. This technical means provides a new method for determining the area boundary of the target area, avoids various problems caused by determining the area boundary by manual surveying and mapping, completely avoids the investment of manpower costs, saves a lot of surveying and mapping time, and improves the efficiency of generating area boundaries.

[0163] Based on the above embodiments, the region boundary generating module 520 may specifically include:

[0164] The circumscribed polygon generation submodule is used to generate circumscribed rectangles corresponding to each local route according to the local routes formed by two adjacent trajectory points and the spray width of the unmanned equipment, and generate the circumscribed polygon of the complete route according to each circumscribed rectangle;

[0165] The region boundary generation submodule is used to generate the region boundary of the target region according to the circumscribed polygon.

[0166] Based on the above embodiments, the trajectory point acquisition module can be specifically used for:

[0167] Acquire the multiple track points formed after the unmanned equipment performs a fully controlled operation in the target area; or

[0168] The multiple trajectory points formed after the unmanned equipment performs semi-controlled operations in the target area are obtained.

[0169] On the basis of the above embodiments, the circumscribed polygon generation submodule may specifically include: a circumscribed rectangle generation unit;

[0170] The circumscribed rectangle generating unit is specifically used to: obtain a target partial route formed by the first trajectory point and the second trajectory point currently being processed;

[0171] A circumscribed rectangle matching the target partial route is generated by taking the target partial route as the long side midline and the spray width as the wide side length.

[0172] On the basis of the above embodiments, the following may also be included:

[0173] A filling polygon generating unit, used for generating a new filling polygon for filling the irregular-shaped gap if it is determined that there is an irregular-shaped gap between the circumscribed rectangles corresponding to two adjacent partial routes before generating the circumscribed polygon of the complete route according to the circumscribed rectangles;

[0174] The circumscribed polygon generation submodule specifically includes: a polygon generation unit;

[0175] The polygon generation unit is specifically used to combine the circumscribed rectangles and the filled polygons to obtain a circumscribed polygon that matches the complete route.

[0176] Based on the above embodiments, the filled polygon generating unit may specifically include:

[0177] An adjacent circumscribed rectangle acquisition subunit, used to acquire a first circumscribed rectangle and a second circumscribed rectangle corresponding to adjacent first partial routes and second partial routes, respectively, the first partial route and the second partial route having a common target track point;

[0178] An outer edge acquisition subunit is used to acquire a first outer edge and a second outer edge in a first circumscribed rectangle and a second circumscribed rectangle respectively if the inner angle between the first partial route and the second partial route is greater than or equal to a set threshold value;

[0179] The filled polygon acquisition subunit is used to form a filled polygon according to the first outer extension edge and the second outer extension edge.

[0180] Based on the above embodiments, the outer edge acquisition subunit can be used to:

[0181] In the first circumscribed rectangle, obtaining a rectangular side that faces away from the inner corner and is parallel to the first local route as the first outer edge;

[0182] In the second circumscribed rectangle, a rectangular side that faces away from the inner corner and is parallel to the second local route is obtained as the second outer edge.

[0183] Based on the above embodiments, the filled polygon acquisition subunit may be specifically used for:

[0184] Extending the first outer edge and the second outer edge toward the target track point respectively;

[0185] The polygon formed by extending the first outer edge and the second outer edge together with the first circumscribed rectangle and the second circumscribed rectangle is used as the filled polygon.

[0186] Based on the above embodiments, the circumscribed polygon generation submodule can be specifically used for:

[0187] Acquire a first track point as a first track point, and acquire a second track point adjacent to the first track point from each track point along the operation track;

[0188] Connecting the first trajectory point and the second trajectory point to generate a third partial route, and generating a third circumscribed rectangle matching the third partial route;

[0189] Acquire a third track point adjacent to the second track point from among the track points along the operation track;

[0190] Connect the second trajectory point and the third trajectory point to generate a fourth partial route, and generate a fourth circumscribed rectangle matching the fourth partial route;

[0191] If the inner angle between the third partial route and the fourth partial route is less than the set threshold, the second track point is used as a new first track point, the fourth circumscribed rectangle is used as a new third circumscribed rectangle, and the third track point is used as a new second track point, and then the operation of obtaining a third track point adjacent to the second track point from each track point along the working track is returned to be executed until all track points are processed;

[0192] If the inner angle between the third partial route and the fourth partial route is greater than or equal to the set threshold, obtaining a third outer edge and a fourth outer edge in the third circumscribed rectangle and the fourth circumscribed rectangle respectively;

[0193] Extending the third outer edge and the fourth outer edge toward the direction of the common track point in the third partial route and the fourth partial route respectively;

[0194] The polygon formed by extending the third outer edge and the fourth outer edge, the third circumscribed rectangle and the fourth circumscribed rectangle is used as a filled polygon;

[0195] After taking the second track point as a new first track point, taking the fourth circumscribed rectangle as a new third circumscribed rectangle, and taking the third track point as a new second track point, returning to perform an operation of acquiring a third track point adjacent to the second track point from each track point along the working track until all track points are processed;

[0196] The circumscribed rectangles and the filled polygons are combined to generate a circumscribed polygon matching the complete route.

[0197] On the basis of the above embodiments, the region boundary generation submodule may be specifically configured to: use the outer boundary of the circumscribed polygon as the region boundary of the target region.

[0198] The device for determining the region boundary provided in the embodiment of the present invention can execute the method for determining the region boundary provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0199] Embodiment 6

[0200] Figure 6 A schematic diagram of the structure of a computer device provided in Embodiment 6 of the present invention is shown in FIG. Figure 6 As shown, the computer device includes a processor 60, a memory 61, an input device 62 and an output device 63; the number of processors 60 in the computer device can be one or more. Figure 6 A processor 60 is taken as an example; the processor 60, memory 61, input device 62 and output device 63 in the computer device can be connected by a bus or other means. Figure 6 The example of connecting through bus is taken in the following.

[0201] The memory 61 is a computer-readable storage medium that can be used to store software programs, computer executable programs and modules, such as the module corresponding to the liquid level detection method in the embodiment of the present invention. The processor 60 executes various functional applications and data processing of the computer device by running the software programs, instructions and modules stored in the memory 61, that is, implements the method for determining the regional boundary as described in any embodiment of the present invention. The method includes:

[0202] Obtain multiple trajectory points of unmanned equipment in the target area;

[0203] A plurality of circumscribed rectangles are generated according to the plurality of trajectory points and the spray width of the unmanned equipment, and a region boundary of the target region is generated according to the plurality of circumscribed rectangles.

[0204] The memory 61 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required for a function; the data storage area may store data created according to the use of the terminal, etc. In addition, the memory 61 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 61 may further include a memory remotely arranged relative to the processor 60, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0205] The input device 62 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the computer device. The output device 63 may include a display device such as a display screen.

[0206] Embodiment 7

[0207] Embodiment 7 of the present invention further provides a computer storage medium storing a computer program, wherein the computer program is used to perform the method for determining the regional boundary described in any of the above embodiments of the present invention when executed by a computer processor. That is, obtaining multiple track points of an unmanned device in a target area; generating multiple circumscribed rectangles based on the multiple track points and the spray width of the unmanned device, and generating the regional boundary of the target area based on the multiple circumscribed rectangles.

[0208] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, - but not limited to - an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0209] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0210] The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wire, optical cable, Radio Frequency (RF), etc., or any suitable combination of the foregoing.

[0211] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0212] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for determining a region boundary, characterized in that: include: Acquire multiple track points formed after the unmanned equipment performs a fully controlled operation or a semi-controlled operation in the target area; the track points are the location points of the unmanned equipment recorded at preset time intervals and / or recorded when the unmanned equipment adjusts its direction, and the information of the track points includes timestamp information, and the track points are connected in ascending order according to the timestamps to form a complete route during the operation of the unmanned equipment; According to a plurality of local routes formed by two or more adjacent trajectory points and the spray width of the unmanned equipment, a plurality of circumscribed rectangles corresponding to each local route are generated; If it is determined that there is a special-shaped gap between the circumscribed rectangles corresponding to two adjacent partial routes, a new filling polygon is generated for filling the special-shaped gap; The circumscribed rectangles and the filled polygons are combined to obtain a circumscribed polygon matching the complete route, and the area boundary of the target area is generated according to the circumscribed polygon.

2. The method according to claim 1, characterized in that According to the local route formed by two adjacent trajectory points and the spray width of the unmanned equipment, the circumscribed rectangle corresponding to the local route is generated, including: Get the target local route consisting of two adjacent trajectory points currently being processed; A circumscribed rectangle matching the target partial route is generated by taking the target partial route as the long side midline and the spray width as the wide side length.

3. The method according to claim 1, characterized in that If it is determined that there is a special-shaped gap between the circumscribed rectangles corresponding to two adjacent partial routes, a new filling polygon for filling the special-shaped gap is generated, including: Acquire a first circumscribed rectangle and a second circumscribed rectangle respectively corresponding to a first partial route and a second partial route adjacent to each other, wherein the first partial route and the second partial route have a common target trajectory point; If the inner angle between the first partial route and the second partial route is greater than or equal to the set threshold, obtaining a first outer edge and a second outer edge in the first circumscribed rectangle and the second circumscribed rectangle respectively; A filled polygon is formed according to the first outer edge and the second outer edge.

4. The method according to claim 3, characterized in that In the first circumscribed rectangle and the second circumscribed rectangle, respectively obtaining a first outer edge and a second outer edge includes: In the first circumscribed rectangle, obtaining a rectangular side that faces away from the inner corner and is parallel to the first local route as the first outer edge; In the second circumscribed rectangle, a rectangular side that faces away from the inner corner and is parallel to the second local route is obtained as the second outer edge.

5. The method according to claim 4, characterized in that A filled polygon is formed according to the first outer edge and the second outer edge, including: Extending the first outer edge and the second outer edge toward the target track point respectively; The polygon formed by extending the first outer edge and the second outer edge together with the first circumscribed rectangle and the second circumscribed rectangle is used as the filled polygon.

6. The method according to claim 1, characterized in that According to the local routes formed by two adjacent trajectory points and the spray width of the unmanned equipment, the circumscribed rectangles corresponding to each local route are generated, and the circumscribed polygons of the complete route are generated according to each circumscribed rectangle, including: Acquire a first track point as a first track point, and acquire a second track point adjacent to the first track point from each track point along the operation track; Connecting the first trajectory point and the second trajectory point to generate a third partial route, and generating a third circumscribed rectangle matching the third partial route; Acquire a third track point adjacent to the second track point from among the track points along the operation track; Connect the second trajectory point and the third trajectory point to generate a fourth partial route, and generate a fourth circumscribed rectangle matching the fourth partial route; If the inner angle between the third partial route and the fourth partial route is less than the set threshold, the second track point is used as a new first track point, the fourth circumscribed rectangle is used as a new third circumscribed rectangle, and the third track point is used as a new second track point, and then the operation of obtaining a third track point adjacent to the second track point from each track point along the working track is returned to be executed until all track points are processed; If the inner angle between the third partial route and the fourth partial route is greater than or equal to the set threshold, obtaining a third outer edge and a fourth outer edge in the third circumscribed rectangle and the fourth circumscribed rectangle respectively; Extending the third outer edge and the fourth outer edge toward the direction of the common track point in the third partial route and the fourth partial route respectively; The polygon formed by extending the third outer edge and the fourth outer edge, the third circumscribed rectangle and the fourth circumscribed rectangle is used as a filled polygon; After taking the second track point as a new first track point, taking the fourth circumscribed rectangle as a new third circumscribed rectangle, and taking the third track point as a new second track point, returning to perform an operation of acquiring a third track point adjacent to the second track point from each track point along the working track until all track points are processed; The circumscribed rectangles and the filled polygons are combined to generate a circumscribed polygon matching the complete route.

7. A device for determining a region boundary, characterized in that: include: A track point acquisition module is used to acquire multiple track points of the unmanned equipment in the target area; the track points are the location points of the unmanned equipment recorded at preset time intervals and / or recorded when the unmanned equipment adjusts its direction, and the information of the track points includes timestamp information. The track points are connected in ascending order according to the timestamps to form a complete route of the unmanned equipment during operation; An area boundary generation module, used to generate a plurality of circumscribed rectangles according to the plurality of trajectory points and the spray width of the unmanned equipment, and to generate an area boundary of the target area according to the plurality of circumscribed rectangles; The region boundary generation module specifically includes: The circumscribed polygon generation submodule is used to generate circumscribed rectangles corresponding to each local route according to the local routes formed by two adjacent trajectory points and the spray width of the unmanned equipment, and generate the circumscribed polygon of the complete route according to each circumscribed rectangle; A region boundary generation submodule, used for generating a region boundary of the target region according to the circumscribed polygon; The trajectory point acquisition module is specifically used for: Acquire the multiple track points formed after the unmanned equipment performs a fully controlled operation in the target area; or Acquire the plurality of trajectory points formed after the unmanned equipment performs semi-controlled operations in the target area; The device also includes: A filling polygon generating unit, used for generating a new filling polygon for filling the irregular-shaped gap if it is determined that there is an irregular-shaped gap between the circumscribed rectangles corresponding to two adjacent partial routes before generating the circumscribed polygon of the complete route according to the circumscribed rectangles; The circumscribed polygon generation submodule specifically includes: a polygon generation unit; The polygon generation unit is specifically used to combine the circumscribed rectangles and the filled polygons to obtain a circumscribed polygon that matches the complete route.

8. A computer device, characterized in that: The computer device comprises: one or more processors; A storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method for determining the region boundary as described in any one of claims 1-6.

9. A computer storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method for determining the region boundary as described in any one of claims 1 to 6 is implemented.

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