Method for determining an electric fence, transport device, storage medium and processor

Abstract

Embodiments of the present application provide a method for determining an electronic fence, a transportation device, a storage medium and a processor. The method comprises: obtaining historical trajectory data of the transportation device; performing clustering calculation on the historical trajectory data to determine a first cluster of the historical trajectory data; determining a first electronic fence of a mixing station according to the first cluster; determining target trajectory data corresponding to a target work area in the historical trajectory data; performing clustering calculation on a plurality of position points contained in the target trajectory data to determine a second cluster corresponding to the target trajectory data; for any one second cluster, in a case where all core position points and all second boundary position points contained in the second cluster are outside the first electronic fence, determining the second cluster as a target cluster; and determining a second electronic fence of the target work area according to all target clusters. Through the above technical solution, the electronic fences of the mixing station and the target work area can be obtained, so that the transportation resources can be efficiently configured.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a method, transportation equipment, storage medium, and processor for determining an electronic fence. Background Art

[0002] During the concrete distribution process, construction site geofences are crucial data. Currently, geofences are manually drawn. This process is not only slow but also prone to errors. Furthermore, due to a mismatch between the requirements of those who draw geofences and those who use them, a significant amount of geofence data is missing. This prevents dispatchers from accurately capturing geofences and understanding the site's conditions. Consequently, transportation resources cannot be efficiently allocated, resulting in wasted resources and reduced customer satisfaction. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide a method, transportation equipment, storage medium and processor for determining an electronic fence.

[0004] To achieve the above objectives, the present application provides, in a first aspect, a method for determining an electronic fence, comprising:

[0005] Obtain historical trajectory data of the transport equipment. The historical trajectory data refers to the location points at multiple historical time points within a historical time period, where the location points are all between the mixing station and multiple historical operation areas;

[0006] Performing clustering calculation on the historical trajectory data to determine first clusters of the historical trajectory data, wherein each first cluster includes a plurality of first core location points that are density-reachable to each other and a plurality of first boundary location points that are density-connected in the historical trajectory data;

[0007] Determining a first electronic fence of the mixing station according to the first cluster;

[0008] Determining target trajectory data corresponding to the target operating area in the historical trajectory data;

[0009] Performing clustering calculation on the plurality of position points included in the target trajectory data to determine second clusters corresponding to the target trajectory data, wherein each second cluster includes a plurality of density-reachable second core position points and a plurality of density-connectable second boundary position points in the target trajectory data;

[0010] For any second cluster, if all second core location points and all second boundary location points included in the second cluster are outside the first electronic fence, the second cluster is determined as a target cluster;

[0011] A second electronic fence of the target operation area is determined based on all target clusters.

[0012] A second aspect of the present application provides a machine-readable storage medium having instructions stored thereon. When the instructions are executed by a processor, the processor is configured to execute the above-mentioned method for determining an electronic fence.

[0013] A third aspect of the present application provides a processor configured to execute the above-mentioned method for determining an electronic fence.

[0014] A fourth aspect of the present application provides a transportation device comprising a processor configured to execute the above-mentioned method for determining an electronic fence.

[0015] Through the above-mentioned method, transportation equipment, storage medium and processor for determining an electronic fence, by obtaining historical trajectory data of the transportation equipment, the historical trajectory data refers to the location points of multiple historical time points within a historical time period, wherein the location points are all between the mixing station and multiple historical operation areas; clustering calculation is performed on the historical trajectory data to determine a first cluster of the historical trajectory data, wherein each first cluster includes multiple first core location points that are density-reachable to each other in the historical trajectory data and multiple first boundary location points that are density-connected; the first electronic fence of the mixing station is determined based on the first cluster; target trajectory data corresponding to the target operation area in the historical trajectory data is determined; clustering calculation is performed on multiple location points contained in the target trajectory data to determine a second cluster corresponding to the target trajectory data, wherein each second cluster includes multiple second core location points that are density-reachable and multiple second boundary location points that are density-connected in the target trajectory data; for any second cluster, if all core location points and all second boundary location points contained in the second cluster are outside the first electronic fence, the second cluster is determined as the target cluster; and the second electronic fence of the target operation area is determined based on all the target clusters. Through the above technical solution, an electronic fence of the target operation area can be obtained, so that transportation resources can be efficiently allocated.

[0016] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present application but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0018] Figure 1 The following schematically shows a flow chart of a method for determining an electronic fence according to an embodiment of the present application;

[0019] Figure 2 A schematic diagram of a trajectory vector according to an embodiment of the present application is schematically shown;

[0020] Figure 3 A schematic diagram of clustering according to an embodiment of the present application is schematically shown;

[0021] Figure 4 Schematically shows a flow chart of the DBSCAN algorithm according to an embodiment of the present application;

[0022] Figure 5 Schematically shows a flow chart of a DBSCAN algorithm according to yet another embodiment of the present application;

[0023] Figure 6 The following schematically shows a structural block diagram of an apparatus for determining an electronic fence according to an embodiment of the present application;

[0024] Figure 7 The internal structure diagram of a computer device according to an embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0025] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0026] Figure 1 The flowchart of the method for determining the electronic fence according to the embodiment of the present application is schematically shown. Figure 1 As shown, in one embodiment of the present application, a method for determining an electronic fence is provided, comprising the following steps:

[0027] Step 102 , obtaining historical trajectory data of the transportation equipment, where the historical trajectory data refers to the location points of multiple historical time points within a historical time period, wherein the location points are all between the mixing station and multiple historical operation areas.

[0028] Transport equipment travels back and forth between a concrete mixing station and multiple work areas. During these historical periods, the transport equipment generates a significant amount of historical trajectory data. This historical trajectory data contains multiple locations, all located between the concrete mixing station and the multiple historical work areas. The processor can then acquire this historical trajectory data. The transport equipment can be a concrete mixing station, and the work area can be a construction site.

[0029] Step 104 : performing clustering calculation on the historical trajectory data to determine first clusters of the historical trajectory data, wherein each first cluster includes a plurality of first core position points in the historical trajectory data that are mutually density-reachable and a plurality of first boundary position points that are densely connected.

[0030] The clustering calculation can be a DBSCAN algorithm for classifying data. The processing can perform clustering calculation on the historical trajectory data to cluster the historical trajectory data and obtain a corresponding first cluster. The first cluster is composed of multiple first core position points and multiple first boundary position points. According to the definition of the DBSCAN algorithm, a boundary point is a point within the core point area, and multiple core points with density reachable between each other and multiple boundary points with density connected constitute a cluster.

[0031] Step 106: Determine a first electronic fence of the mixing station according to the first cluster.

[0032] The processor can construct a first electronic fence of the mixing station based on the location points included in the first cluster. The first electronic fence is a virtual boundary of the area where the mixing station is located. The location of the mixing station can be determined based on the information of the first electronic fence.

[0033] Step 108 : Determine target trajectory data corresponding to the target operating area in the historical trajectory data.

[0034] The location points included in the historical trajectory data are the trajectories of the transportation equipment from the mixing station to multiple operating areas. Then, in these operating areas, for a certain target operating area, the processor can filter out the target trajectory data corresponding to the target operating area from the historical trajectory data. The target trajectory data refers to the trajectory of the transportation equipment traveling back and forth from the mixing station to the target operating area within a historical time period. The location points included in the target trajectory data are between the mixing station and the target operating area. Specifically, it is possible to determine which corresponding target operating area the location point belongs to based on the historical time point corresponding to each location point.

[0035] Step 110 : performing clustering calculation on the multiple position points included in the target trajectory data to determine second clusters corresponding to the target trajectory data, wherein each second cluster includes multiple second core position points that are density-reachable and multiple second boundary position points that are density-connectable in the target trajectory data.

[0036] The processor may perform clustering calculation on the target trajectory data to cluster the target trajectory data and obtain corresponding second clusters. The second cluster is composed of a plurality of second core position points and a plurality of second boundary position points. It is understandable that the second cluster is relative to the first cluster. The clustering calculation performed on the target trajectory data may also be a DBSCAN algorithm.

[0037] Step 112 : For any second cluster, if all second core location points and all second boundary location points included in the second cluster are outside the first electronic fence, determine the second cluster as a target cluster.

[0038] Step 114 : determining a second electronic fence of the target operation area based on all target clusters.

[0039] The processor can generate a second electronic fence for the target work area based on the position points included in all the target clusters. The target cluster is a second cluster in which all the second core position points and all the second boundary position points are outside the first electronic fence. For each second cluster generated by the target trajectory data, if there is a position point included in the second cluster that is inside the first electronic fence of the mixing station, then it means that the second cluster is inside the mixing station or near the mixing station. Generally speaking, the construction site is a certain distance away from the mixing station, so the second cluster inside or near the mixing station can be eliminated as interference data.

[0040] In one embodiment, determining the target trajectory data corresponding to the target operation area in the historical trajectory data includes: determining the historical transport order of the transportation equipment, each historical transport order including the departure time, the end time and the corresponding target operation area of ​​each transport order; dividing the historical time period into the historical transportation time period corresponding to each target operation area according to the departure time and the end time of each transport order; for the historical transportation time period corresponding to each target operation area, determining a plurality of sub-trajectory data within the historical transportation time period in the historical trajectory data; for each target operation area, recombining the plurality of sub-trajectory data corresponding to the target operation area to obtain recombined trajectory data corresponding to the target operation area; for each target operation area, removing abnormal trajectory points in the recombined trajectory data to obtain the target trajectory data of the target operation area.

[0041] Historical trajectory data of transportation equipment from a concrete mixing plant to multiple work areas is generated by multiple historical transport orders within a historical time period. Each historical transport order includes the departure time, end time, and corresponding target work area of ​​each transport order. The processor can divide the historical time period into historical transport time periods corresponding to each target work area based on the departure time and end time of each transport order. The historical transport time period is from the departure time to the end time of each transport order within the historical time period. The historical transport time period corresponds to each target work area. Then, for the historical transport time period corresponding to each target work area, the processor can determine multiple sub-trajectory data within the historical transport time period in the historical trajectory data. Sub-trajectory data refers to trajectory data generated within the historical transport time period in the historical trajectory data. For each target work area, the processor can reassemble the multiple sub-trajectory data corresponding to the target work area to obtain reassembled trajectory data corresponding to the target work area. For each target work area, the processor can remove abnormal trajectory points from the reassembled trajectory data to obtain target trajectory data for the target work area. The reassembled trajectory data is composed of the multiple sub-trajectory data. The target trajectory data is the reassembled trajectory data after removing the abnormal trajectory points.

[0042] Suppose historical trajectory data was generated for three transport orders, A, B, and C, over the past three days. Transport order A's trip departed at 10:00 AM on the first day and ended at 12:00 PM on the first day, corresponding to construction site 1. Transport order B's trip departed at 10:00 AM on the second day and ended at 12:00 PM on the second day, corresponding to construction site 2. Transport order B's trip departed at 10:00 AM on the third day and ended at 12:00 PM on the third day, corresponding to construction site 1. Therefore, the historical transport time periods for construction site 1 are from 10:00 AM on the first day to 12:00 PM on the first day, and from 10:00 AM on the third day to 12:00 PM on the third day. The historical transport time period for construction site 2 is from 10:00 AM on the second day to 12:00 PM on the second day. Therefore, the sub-trajectory data generated from 10:00 AM on the first day to 12:00 PM on the first day are locations a1, a2, and a3. The sub-trajectory data generated from 10:00 AM on the third day to 12:00 PM on the third day are locations a4, a5, and a6. The sub-trajectory data generated from 10:00 AM to 12:00 PM the following day is location points a7, a8, and a9. The reconstructed trajectory data for construction site 1 is a1, a2, a3, a4, a5, and a6. Assuming a1 is an abnormal trajectory point, the target trajectory data for construction site 1 is a2, a3, a4, a5, and a6. Abnormal trajectory points may be caused by abnormal journey segments due to reasons such as being offline during the journey. Correction can be performed on the associated trajectory points, or the abnormal trajectory points can be identified through trajectory overlap analysis and weight adjustment. Removing abnormal trajectory points can result in a more accurate geo-fence.

[0043] In one embodiment, determining the second electronic fence of the target operation area based on all target clusters includes: for any target cluster, determining the trajectory vector between two position points adjacent to each other at any time contained in the target cluster; for any target cluster, judging whether the transportation equipment has a directional deviation on the driving path corresponding to the target cluster based on all trajectory vectors corresponding to the target cluster; when it is determined that a directional deviation has occurred, determining the target cluster as a non-interference cluster; and determining the second electronic fence of the target operation area based on the second core position points and the second boundary position points contained in all non-interference clusters.

[0044] The transportation equipment moves from the mixing station to the target work area. For example, after the mixer truck receives the material at the mixing station, it transports the concrete to the construction site. The mixer truck stops at the construction site to unload the material. After unloading, the empty truck returns to the mixing station. The movement trajectory of the mixer truck for one trip will basically form a mirror image with the construction site as the turning point. Then, after the second cluster inside the mixing station is eliminated to obtain the target cluster, for any target cluster, the processor can determine the trajectory vector between any two adjacent position points at any time contained in the target cluster. Each target cluster contains multiple core position points and multiple boundary position points. Then, the processor can determine the trajectory vector between any two adjacent position points at any time in the target cluster. As Figure 2 As shown, AB is the trajectory vector from the position point A at the previous moment to the position point B at the next moment. The trajectory vector can represent the moving direction of the transport equipment. The processor can determine whether the transport equipment has a directional deviation on the driving path corresponding to the target cluster based on all the trajectory vectors corresponding to the target cluster. The location of the electronic fence of the target operating area is usually the location point where the direction of the adjacent trajectory vector changes sharply. Then, when the angle between the adjacent trajectory vectors is large, this location point can be called an inflection point. Then, the processor can determine that a directional deviation has occurred at the location point. In the case of determining that a directional deviation has occurred, the processor can determine the target cluster corresponding to this location point as a non-interference cluster. The processor can generate a second electronic fence for the target operating area based on the second core location point and the second boundary location point contained in all the non-interference clusters. Specifically, refer to Figure 2 , between trajectory vectors CD and DE, and point D between CD and DE is the inflection point. The target cluster containing point D is a non-interference cluster. If the points between adjacent trajectory vectors do not deviate in direction, that is, the distance between adjacent trajectory vectors is small, then the target cluster containing that point is an interference cluster. These interference clusters are typically caused by drivers parking for extended periods outside a station due to unexpected reasons.

[0045] In one embodiment, for any target cluster, judging whether the transport equipment has directional deviation on the driving path corresponding to the target cluster based on all the trajectory vectors corresponding to the target cluster includes: for any target cluster, if the angle between any two adjacent trajectory vectors in all the trajectory vectors corresponding to the target cluster is greater than or equal to a preset angle threshold, determining that the transport equipment has directional deviation on the driving path corresponding to the target cluster.

[0046] The preset angle threshold is a preset angle value used to determine whether an inflection point occurs between two adjacent trajectory vectors. If, within a target cluster, the angle between adjacent trajectory vectors is greater than or equal to the preset angle threshold, the processor can determine that the transport equipment has deviated from the direction of the driving path corresponding to the target cluster. In this case, the target cluster can be determined as a non-interference cluster. The second electronic fence of the target operation area is determined based on the second core position points and second boundary position points contained in all non-interference clusters.

[0047] 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 area radius of the first cluster is greater than or equal to the area radius of the second cluster.

[0048] In DBSCAN clustering calculations, you can specify the domain radius Eps and the minimum number of samples MinPts. Based on these two parameters, each location point in the trajectory data of the transportation equipment can be marked. Figure 3 Schematic diagram of clustering according to the embodiment of the present application is shown. Figure 3 As shown, the position points whose number of position points in the domain radius Eps is greater than the minimum number of samples MinPts are core position points. The position points whose number of position points in the domain radius Eps is less than the minimum number of samples MinPts but are located at the domain boundary of other core position points are boundary position points. Other cases are classified as noise points and are not processed. For a core position point A, if the position point B within its domain is also a core position point, then A and B are in the same cluster. Similarly, for a core position point B, if the position point C within its domain is also a core position point, then A, B, and C are in the same cluster. Among them, A and B are directly density reachable, and A and C are density reachable. Traverse all the position points in the trajectory data, find the points where the density is connected, and divide the trajectory data into different clusters. The boundary position points corresponding to each core position point in the cluster constitute the boundary of this cluster.

[0049] Then, for calculating the historical trajectory data of the first cluster. Since the historical trajectory data is the location points from the mixing station to multiple operating areas, compared with the target trajectory data from the mixing station to the target operating area, the number of location points generated by the mixing station in the historical trajectory data is more and more dense. Therefore, it can be stipulated that the minimum number of samples of the first cluster is greater than the minimum number of samples of the second cluster, and the field radius of the first cluster is less than or equal to the field radius of the second cluster. This allows the processor to calculate the first electronic fence of the mixing station based on the larger minimum number of samples, and calculate the second electronic fence of the target operating area based on the smaller field radius.

[0050] In one embodiment, Figure 4 As shown, Figure 4 The flowchart of the DBSCAN algorithm according to the embodiment of the present application is schematically shown. The second core position point and the second boundary position point of the second cluster are determined by cluster calculation in the following manner.

[0051] First, the target trajectory data is initialized. Specifically, the type of the trajectory point (position point) in the target trajectory data can be initialized to a noise point, the trajectory point can be initialized to an unprocessed state, and the current cluster C of the trajectory point can be initialized to 1. Determine the domain radius and the minimum number of samples for clustering calculation. The i of the i-th trajectory point is initialized to 0. Determine whether the i of the i-th trajectory point is less than the total number of trajectory points. If not, end the calculation process. If so, determine whether the i-th trajectory point Pi has been clustered. If clustering has been performed, find the next trajectory point through i++ and process the next trajectory point. If the trajectory point Pi has not been clustered, then mark the trajectory point Pi as processed and obtain the number of trajectory points in the domain of the trajectory point Pi. If the number of trajectory points in the domain of the trajectory point Pi is greater than or equal to the minimum number of samples, then determine that the trajectory point Pi is the second core position point. If it is less than the minimum number of samples, then the trajectory point Pi is not the second core position point. If the trajectory point Pi is the second core position point, then set the cluster of the trajectory point Pi to C and process the cluster of the trajectory point Pi. At the same time, a clustering flag C++ is added to the trajectory point Pi. If the trajectory point Pi is not the second core position point, any trajectory point within the domain of the trajectory point Pi is further determined to be Pj. Determine whether j of the trajectory point Pj is less than the total number of trajectory points within the domain of Pi. If j is greater than or equal to the total number of trajectory points within the domain of Pi, it means that the trajectory points within the domain of Pi have been processed and the calculation process ends. If j is less than the total number of trajectory points within the domain of Pi, determine whether the trajectory point Pj is the second core position point. If so, set the trajectory point Pi as the second boundary position point. If the trajectory point Pj is not the second core position point, process the next trajectory point within the domain of the trajectory point Pi. That is, find the next trajectory point through j++.

[0052] Through the above steps, all trajectory points in the trajectory data can be traversed. If a trajectory point Pi has been processed, skip the trajectory point. Otherwise, mark the trajectory point Pi as processed first, and then traverse all trajectory points within the Pi domain. If the number of trajectory points in the Pi domain is less than the minimum number of samples, traverse all trajectory points in the Pi domain. If any trajectory point Pj in the Pi domain is the second core position point, it means that Pi is the second boundary position point. If the trajectory point in the Pi domain is greater than the minimum number of samples, it means that the trajectory point Pi is the second core position point. At this time, set the cluster of Pi to C, and then process the clustering logic of Pi. After processing the cluster of trajectory point Pi, increment the cluster flag C, and continue to traverse the next trajectory point in the trajectory until the end.

[0053] In one embodiment, Figure 5 As shown, Figure 5 The flowchart of the DBSCAN algorithm according to another embodiment of the present application is schematically shown. Figure 4 The process of processing the clustering of trajectory points Pi in is as follows:

[0054] First, set the trajectory points within the domain of the trajectory point Pi determined as the second core position point as Pk. Here, k is initialized to 0. Determine whether the k of the k-th trajectory point is less than the total number of trajectory points within the domain of the trajectory point Pi. If not, end the calculation process. If so, determine whether the k-th trajectory point Pk is clustered. If clustering has been performed, process the next trajectory point within the domain of Pi. That is, find the next trajectory point through k++. If clustering has not been performed, mark the trajectory point Pk as processed, and determine whether the trajectory point Pk already belongs to a cluster. The belonging cluster refers to the cluster to which the trajectory point belongs after clustering calculation. If the trajectory point Pk already belongs to a cluster, set the cluster of the trajectory point Pk to C. Further, it can be determined whether the trajectory point Pk is the second core position point. If the trajectory point Pk is the second core position point, determine any trajectory point within the domain of the trajectory point Pk as Pn. Determine whether n of the trajectory point Pn is less than the total number of trajectory points within the domain of Pk. If so, further determine whether trajectory point Pn already belongs to a cluster. If trajectory point Pn already belongs to a cluster, set the cluster of trajectory point Pn to C, and set trajectory point Pn as a potential cluster of trajectory point Pk. If trajectory point Pn does not belong to a cluster, process the next trajectory point within the range of Pk. That is, use n++ to find the next trajectory point. If n for trajectory point Pn is greater than or equal to the total number of trajectory points within the range of Pk, process the next trajectory point within the range of Pi. That is, use k++ to find the next trajectory point. If trajectory point Pk is not the second core position point, determine any trajectory point within the range of trajectory point Pk as Pm. m is initialized to 0. Determine whether m for trajectory point Pm is less than the total number of trajectory points within the range of Pk. If so, determine whether trajectory point Pm is the second core position point. If trajectory point Pm is the second core position point, set trajectory point Pk as the second boundary position point. Then process the next trajectory point within the range of Pk. That is, use k++ to find the next trajectory point. If m is greater than or equal to the total number of trajectory points within the range of Pk, then the next trajectory point within the range of Pi is processed. That is, the next trajectory point is found through k++. If the trajectory point Pm is not the second core position point, then the next trajectory point within the range of Pk is processed. That is, the next trajectory point is found through m++.

[0055] Through the above steps, all points within the initial range of trajectory point Pi are potential clusters of trajectory point Pi. Traverse trajectory point Pk within these potential clusters. If trajectory point Pk has been processed, skip it. Otherwise, edit trajectory point Pk as processed and determine the cluster to which trajectory point Pk belongs. If Pk does not belong to any cluster, add trajectory point Pk to the cluster of trajectory point Pi. Then obtain the trajectory points within the range of trajectory point Pk. If the number of trajectory points within the range of trajectory point Pk is less than the minimum sample count, determine whether there is a second core location point within the range of trajectory point Pk. If there is a second core location point, set trajectory point Pk as the second boundary location point. If the number of trajectory points within the range of trajectory point Pk is greater than the minimum sample count, it indicates that trajectory point Pk is a second core location point. Traverse point Pn within the range of trajectory point Pk. If trajectory point Pn does not belong to any cluster, set the cluster of trajectory point Pn to the cluster to which trajectory point Pi belongs, and add trajectory point Pn to the potential cluster of trajectory point Pi. By adding Pn to Pi's potential clusters, we ensure that Pi can access the density-reachable second core location. If there is a density-reachable point Pr of Pi within Pn's domain, Pr will be added to Pi's potential clusters when processing Pn. This cycle can find all of Pi's clusters and avoid repeated calculations. Similarly, the above scheme can also be used to determine the first cluster of historical trajectory data.

[0056] In one embodiment, the method also includes: after determining the second electronic fence, obtaining the current trajectory data of the transportation equipment, the current trajectory data refers to the trajectory data of the transportation equipment traveling from the mixing station to the target working area again; performing clustering calculation on the current trajectory data according to the minimum sample number and domain radius of the second cluster to determine a third cluster of the current trajectory data, wherein each third cluster includes a plurality of third core position points that are density-reachable and a plurality of third boundary position points that are density-connectable in the current trajectory data; for any third cluster, when all the core position points and all the third boundary position points contained in the third cluster are outside the first electronic fence, the third cluster is determined as a newly added target cluster; the stability of the second electronic fence is determined based on the relative spatial position between the newly added target cluster and the second electronic fence; and an alarm message is generated when the stability is less than a preset stability threshold.

[0057] In one embodiment, the initial stability of the second electronic fence is a preset stability, and 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 includes: when the third core position point and the third boundary position point included in the newly added target cluster are both within the second electronic fence, determining the stability of the second electronic fence is to increase the first preset value on the basis of the preset stability; when at least one position point among the third core position point and the third boundary position point included in the newly added target cluster is outside the second electronic fence, determining the stability of the second electronic fence is to reduce the second preset value on the basis of the preset stability.

[0058] In one embodiment, the method also includes: after determining the newly added target cluster, adjusting the domain radius of the second cluster and the electronic fence radius of the second electronic fence according to the relative spatial position between the newly added target cluster and the second electronic fence; wherein, when the trajectory data of the transportation equipment is updated again, the newly added trajectory data is clustered using the adjusted domain radius of the second cluster to adjust the electronic fence radius of the second electronic fence according to the cluster calculation result to adjust the second electronic fence.

[0059] A target operation area usually has multiple transport orders, and the trajectory data of the transportation equipment will be continuously generated according to the itinerary of the transport order. The routes of each transport order corresponding to the target operation area will be slightly different, but the final destination is only the mixing station and the target operation area. The second electronic fence calculated for each transport order of the same target operation area should theoretically be the same. As the number of transport orders increases, the corresponding clusters can be calculated based on the trajectory data generated by each transport order, so as to correct the second electronic fence. Then, after determining the second electronic fence, the processor can obtain the current trajectory data of the transportation equipment. When performing cluster calculation on the current trajectory data, the minimum number of samples and the domain radius specified for calculating the second cluster are also referred to generate the third cluster of the current trajectory data.

[0060] For any third cluster, if all core points and all third boundary points included in the third cluster are outside the first electronic fence, the previously determined second electronic fence may be inaccurate. The processor may then determine the third cluster as a newly added target cluster. The newly added target cluster may be inside or outside the second electronic fence. The processor may then 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 the stability of the second electronic fence by increasing a first preset value based on the preset stability. If at least one of the third core points and third boundary points included in the newly added target cluster is outside the second electronic fence, the processor may determine the stability of the second electronic fence by decreasing a second preset value based on the preset stability. The first and second preset values ​​are relative. If the stability is less than a preset stability threshold, an alarm is generated. Stability is a parameter that indicates the accuracy of the second electronic fence; a higher stability indicates a more accurate second electronic fence. The preset stability threshold is a threshold parameter for the accuracy of the second electronic fence. If it is less than the preset stability threshold, it means that the accuracy of the second electronic fence is very low and is not effective in guiding scheduling and transportation operations.

[0061] The processor can also adjust the area radius of the second cluster and the electronic fence radius of the second electronic fence based on the relative spatial position between the newly added target cluster and the second electronic fence. When the trajectory data of the transport equipment is updated again, the adjusted area radius of the second cluster is used to perform cluster calculation on the newly added trajectory data, and the electronic fence radius of the second electronic fence is adjusted based on the cluster calculation results. The adjusted second electronic fence can then be used to guide related scheduling and transportation operations. Specifically, if the location points included in the third cluster are located inside the second electronic fence, the stability of the second electronic fence is increased by sa. If any location point included in the third cluster is located outside the second electronic fence but near the boundary of the second electronic fence, the electronic fence radius is appropriately increased. For example, each expansion of the second electronic fence radius may be less than ke times the current second electronic fence radius, and each expansion of the electronic fence radius increases the number of waybills required by kn times, while reducing the stability of the second electronic fence ss. If the stability of the second electronic fence is too low, the electronic fence radius is no longer expanded, and an alarm is generated. If the distance between the location points included in the third cluster and the second electronic fence is greatly different, the cluster is marked as an invalid cluster and the stability sn is reduced.

[0062] In one embodiment, the method also includes: after determining the second electronic fence of the target operation area based on all target clusters, obtaining the real-time position of the transportation equipment; determining the virtual space distance between the real-time position and the second electronic fence to determine the distance between the target operation area and the transportation equipment.

[0063] After the second geo-fence of the target work area is generated, the processor can obtain the real-time location of the transport equipment and, based on the virtual spatial distance between the real-time location and the second geo-fence, determine this virtual spatial distance as the actual separation distance between the target work area and the transport equipment. The virtual spatial distance refers to the separation distance between the real-time location and the virtual second geo-fence.

[0064] A method, transport equipment, storage medium and processor for determining an electronic fence are provided. Historical trajectory data of the transport equipment is obtained, where the historical trajectory data refers to location points at multiple historical time points within a historical time period, wherein the location points are all between a mixing station and multiple historical operation areas. Clustering calculation is performed on the historical trajectory data to determine a first cluster of the historical trajectory data, wherein each first cluster includes multiple first core location points that are density-reachable to each other and multiple first boundary location points that are density-connected in the historical trajectory data. A first electronic fence of the mixing station is determined based on the first cluster. Target trajectory data corresponding to a target operation area is determined in the historical trajectory data. Clustering calculation is performed on multiple location points contained in the target trajectory data to determine a second cluster corresponding to the target trajectory data, wherein each second cluster includes multiple second core location points that are density-reachable to each other and multiple second boundary location points that are density-connected in the target trajectory data. For any second cluster, if all second core location points and all second boundary location points contained in the second cluster are outside the first electronic fence, the second cluster is determined as a target cluster. A second electronic fence of the target operation area is determined based on all target clusters. The above technical solution eliminates interference data and performs cluster calculations on trajectory data. Based on the calculated clusters, a first electronic fence for the concrete mixing station and a second electronic fence for the target work area are generated. Furthermore, the second electronic fence can be modified based on the trajectory data added to subsequent transport orders. If the stability of the second electronic fence is low, an alarm is issued, thereby improving the accuracy of the second electronic fence. Based on the generated electronic fence, the actual situation can be accurately determined, determining whether there are situations such as vehicle jams and material shortages on the construction site. This allows for the effective allocation of transportation resources, scheduling of transportation equipment, and reducing resource waste.

[0065] Figure 1 FIG. 1 is a flow chart of a method for determining an electronic fence in one embodiment. It should be understood that although Figure 1The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. In addition, Figure 1 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0066] In one embodiment, Figure 6 As shown, a device for determining an electronic fence is provided, including a data acquisition module 602, a first cluster determination module 604, a first electronic fence generation module 606, a target trajectory 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:

[0067] The data acquisition module 602 is used to obtain historical trajectory data of the transportation equipment. The historical trajectory data refers to the location points of multiple historical time points within a historical time period, wherein the location points are all between the mixing station and multiple historical operation areas.

[0068] The first cluster determination module 604 is configured to perform clustering calculations on the historical trajectory data to determine first clusters of the historical trajectory data, where each first cluster includes a plurality of first core location points in the historical trajectory data that are mutually densely connected and a plurality of first boundary location points that are densely connected.

[0069] The first electronic fence generating module 606 is configured to determine the first electronic fence of the mixing station according to the first cluster.

[0070] The target trajectory data determination module 608 is configured to determine target trajectory data corresponding to the target operating area in the historical trajectory data.

[0071] The second cluster determination module 610 is configured to perform clustering calculations on the multiple location points included in the target trajectory data to determine second clusters corresponding to the target trajectory data, wherein each second cluster includes multiple density-reachable second core location points and multiple density-connectable second boundary location points in the target trajectory data.

[0072] The target cluster determining module 612 is configured to determine any second cluster as a target cluster if all second core locations and all second boundary locations included in the second cluster are outside the first electronic fence.

[0073] The second electronic fence generating module 614 is configured to determine a second electronic fence of the target operation area according to all target clusters.

[0074] In one embodiment, the target trajectory data determination module 608 is also used to determine the historical transport orders of the transport equipment, each historical transport order including the departure time, the end time and the corresponding target operation area of ​​each transport order; the historical time period is divided into historical transport time periods corresponding to each target operation area according to the departure time and the end time of each transport order; for the historical transport time period corresponding to each target operation area, a plurality of sub-trajectory data within the historical transport time period are determined in the historical trajectory data; for each target operation area, the plurality of sub-trajectory data corresponding to the target operation area are reorganized to obtain reorganized trajectory data corresponding to the target operation area; for each target operation area, the abnormal trajectory points in the reorganized trajectory data are removed to obtain the target trajectory data of the target operation area.

[0075] In one embodiment, the second electronic fence generation module 614 is also used to determine, for any target cluster, the trajectory vector between two adjacent position points at any time contained in the target cluster; for any target cluster, determine whether the transportation equipment has a directional deviation on the driving path corresponding to the target cluster based on all the trajectory vectors corresponding to the target cluster; if it is determined that a directional deviation has occurred, determine the target cluster as a non-interference cluster; and determine the second electronic fence of the target operation area based on the second core position points and the second boundary position points contained in all the non-interference clusters.

[0076] In one embodiment, the second electronic fence generation module 614 determines that, for any target cluster, the transportation equipment has a directional deviation on the driving path corresponding to the target cluster if the angle between any two adjacent trajectory vectors in all the trajectory vectors corresponding to the target cluster is greater than or equal to a preset angle threshold.

[0077] 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 area radius of the first cluster is less than or equal to the area radius of the second cluster.

[0078] In one embodiment, the device for determining the electronic fence also includes an alarm module (not shown in the figure), which is used to obtain the current trajectory data of the transportation equipment after determining the second electronic fence, and the current trajectory data refers to the trajectory data of the transportation equipment traveling from the mixing station to the target working area again; clustering calculation is performed on the current trajectory data according to the minimum sample number and domain radius of the second cluster to determine a third cluster of the current trajectory data, wherein each third cluster includes a plurality of third core position points that can be reached by density and a plurality of third boundary position points that can be connected by density in the current trajectory data; for any third cluster, when all the core position points and all the third boundary position points contained in the third cluster are outside the first electronic fence, the third cluster is determined as a newly added target cluster; the stability of the second electronic fence is determined according to the relative spatial position between the newly added target cluster and the second electronic fence; when the stability is less than the preset stability threshold, an alarm message is generated.

[0079] In one embodiment, the alarm module (not shown in the figure) is also used to determine that the stability of the second electronic fence is increased by a first preset value on the basis of the preset stability when the third core position point and the third boundary position point included in the newly added target cluster are both within the second electronic fence; and when at least one position point among the third core position point and the third boundary position point included in the newly added target cluster is outside the second electronic fence, determine that the stability of the second electronic fence is reduced by a second preset value on the basis of the preset stability.

[0080] In one embodiment, the device for determining the electronic fence also includes a correction module (not shown in the figure), which is used to adjust the area radius of the second cluster and the electronic fence radius of the second electronic fence according to the relative spatial position between the newly added target cluster and the second electronic fence after determining the newly added target cluster; wherein, when the trajectory data of the transportation equipment is updated again, the area radius of the adjusted second cluster is used to perform clustering calculation on the newly added trajectory data, so as to adjust the electronic fence radius of the second electronic fence according to the clustering calculation result, so as to adjust the second electronic fence.

[0081] In one embodiment, the device for determining the electronic fence also includes a distance determination module (not shown in the figure), which is used to obtain the real-time position of the transportation equipment after determining the second electronic fence of the target operation area based on all target clusters; determine the virtual space distance between the real-time position and the second electronic fence to determine the distance between the target operation area and the transportation equipment.

[0082] The device for determining an electronic fence includes a processor and a memory. The above-mentioned data acquisition module, first cluster determination module, first electronic fence generation module, target trajectory data determination module, second cluster determination module, target cluster determination module and second electronic fence generation module are all stored in the memory as program units, and the processor executes the above-mentioned program modules stored in the memory to implement corresponding functions.

[0083] The processor includes a kernel, which calls the corresponding program unit from the memory. One or more kernels can be set, and the method for determining the electronic fence can be implemented by adjusting the kernel parameters.

[0084] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0085] An embodiment of the present application provides a storage medium having a program stored thereon, which, when executed by a processor, implements the above-mentioned method for determining an electronic fence.

[0086] An embodiment of the present application provides a processor, which is used to run a program, wherein the program executes the above-mentioned method for determining an electronic fence when running.

[0087] An embodiment of the present application provides a transportation device, comprising a processor configured to execute the above-mentioned method for determining an electronic fence.

[0088] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 7 As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown in the figure) and a database (not shown in the figure) connected via a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile 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 non-volatile storage medium A04. The database of the computer device is used to store data for a method for determining an electronic fence. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program B02 is executed by the processor A01, it implements a method for determining an electronic fence.

[0089] Those skilled in the art will understand that Figure 7The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0090] An embodiment of the present application provides a device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, the steps of the above-mentioned method for determining an electronic fence are implemented.

[0091] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program initialized with the above method steps for determining an electronic fence.

[0092] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0093] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0094] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0095] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0096] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0097] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0098] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media 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 disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0099] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0100] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A method for determining an electronic fence, characterized in that: The method comprises: Obtaining historical trajectory data of the transport equipment, wherein the historical trajectory data refers to the location points of multiple historical time points within a historical time period, wherein the location points are all between the mixing station and multiple historical operation areas; performing a clustering calculation on the historical trajectory data to determine first clusters of the historical trajectory data, wherein each first cluster includes a plurality of first core location points in the historical trajectory data that are density-reachable to each other and a plurality of first boundary location points that are density-connected; Determining a first electronic fence of the mixing station according to the first cluster; Determining target trajectory data corresponding to a target operating area in the historical trajectory data; Performing clustering calculation on a plurality of position points included in the target trajectory data to determine second clusters corresponding to the target trajectory data, wherein each second cluster includes a plurality of density-reachable second core position points and a plurality of density-connectable second boundary position points in the target trajectory data; For any second cluster, if all second core location points and all second boundary location points included in the second cluster are outside the first electronic fence, the second cluster is determined as a target cluster; Determine a second electronic fence of the target operation area according to all target clusters; The step of determining the second electronic fence of the target operation area according to all target clusters includes: For any target cluster, determine the trajectory vector between any two time-adjacent position points contained in the target cluster; For any target cluster, judging whether the transport equipment has a direction deviation on the driving path corresponding to the target cluster based on all trajectory vectors corresponding to the target cluster; In the case where it is determined that a direction deviation occurs, determining the target cluster as a non-interference cluster; Determine a second electronic fence of the target operation area according to the second core position points and the second boundary position points included in all non-interference clusters; Wherein, for any target cluster, judging whether the transportation equipment has a direction deviation on the driving path corresponding to the target cluster according to all trajectory vectors corresponding to the target cluster includes: For any target cluster, if the angle between any two adjacent trajectory vectors in all trajectory vectors corresponding to the target cluster is greater than or equal to a preset angle threshold, it is determined that the transportation equipment has a direction deviation on the driving path corresponding to the target cluster.

2. The method for determining an electronic fence according to claim 1, characterized in that: The minimum number of samples of the first cluster is greater than the minimum number of samples of the second cluster, and the area radius of the first cluster is less than or equal to the area radius of the second cluster.

3. The method for determining an electronic fence according to claim 2, characterized in that: The method further comprises: After determining the second electronic fence, obtaining current trajectory data of the transport equipment, wherein the current trajectory data refers to trajectory data of the transport equipment traveling from the mixing station to the target operation area again; performing clustering calculation on the current trajectory data according to the minimum sample number and the domain radius of the second cluster to determine a third cluster of the current trajectory data, wherein each third cluster includes a plurality of third core position points that are density-reachable and a plurality of third boundary position points that are density-connectable in the current trajectory data; For any third cluster, if all core location points and all third boundary location points included in the third cluster are outside the first electronic fence, the third cluster is determined as a newly added target cluster; 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; When the stability is less than a preset stability threshold, an alarm message is generated.

4. The method for determining an electronic fence according to claim 3, characterized in that: 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: When both the third core position point and the third boundary position point included in the newly added target cluster are within the second electronic fence, determining the stability of the second electronic fence by adding a first preset value to the preset stability; When at least one of the third core position points and the third boundary position points included in the newly added target cluster is outside the second electronic fence, the stability of the second electronic fence is determined to be a second preset value reduced based on the preset stability.

5. The method for determining an electronic fence according to claim 3, characterized in that: The method further comprises: After determining the newly added target cluster, adjusting the area radius of the second cluster and the electronic fence radius of the second electronic fence according to the relative spatial position between the newly added target cluster and the second electronic fence; Among them, when the trajectory data of the transportation equipment is updated again, the newly added trajectory data is clustered using the adjusted domain radius of the second cluster, so as to adjust the electronic fence radius of the second electronic fence according to the cluster calculation result to adjust the second electronic fence.

6. The method for determining an electronic fence according to claim 1, characterized in that: Determining the target trajectory data corresponding to the target operating area in the historical trajectory data includes: Determine the historical transport order of the transport equipment, each historical transport order including the departure time, the end time and the corresponding target operation area of ​​each transport order; Divide the historical time period into historical transportation time periods corresponding to each target operation area according to the departure time and end time of each transportation order; For each historical transportation time period corresponding to the target operation area, determining a plurality of sub-trajectory data in the historical trajectory data that are within the historical transportation time period; For each target operation area, reorganize a plurality of sub-trajectory data corresponding to the target operation area to obtain reorganized trajectory data corresponding to the target operation area; For each target operating area, abnormal trajectory points in the reorganized trajectory data are removed to obtain target trajectory data of the target operating area.

7. The method for determining an electronic fence according to claim 1, characterized in that: The method further comprises: After determining the second electronic fence of the target operation area according to all target clusters, obtaining the real-time position of the transportation equipment; Determine the virtual space distance between the real-time position and the second electronic fence to determine the distance between the target operation area and the transportation equipment.

8. A processor, characterized in that: The method is configured to execute the method for determining an electronic fence according to any one of claims 1 to 7.

9. A transport device, characterized in that: The transport device includes the processor of claim 8.

10. A machine-readable storage medium having instructions stored thereon, characterized in that: When the instruction is executed by a processor, the processor is configured to perform the method for determining an electronic fence according to any one of claims 1 to 7.

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