An edge computing device based on Beidou and multi-sensor fusion technology

Abstract

The invention discloses an edge computing device based on Beidou and multi-sensor fusion technology, which belongs to the field of edge computing and is used to solve the problem that the calculation of regional edge area is troublesome and the area at the edge cannot be calculated effectively and conveniently. The invention comprises: acquiring a regional image and a zoom ratio of the image; receiving the regional image, analyzing the regional image according to image features, dividing the regional image into a first regional area to an nth regional area, and obtaining image data; receiving the image analysis data, obtaining numerical values ​​of an area enclosed by the first regional area to the nth regional area, respectively obtaining the area of ​​each regional area according to the obtained numerical values, and calculating in combination with the zoom ratio to obtain edge computing data; the invention obtains an image and a distance of an edge position, analyzes the obtained image, and divides the regional image into a plurality of graphics for calculation, so as to accurately obtain the edge image and improve the accuracy of regional edge area calculation.

Description

Technical Field

[0001] The present invention belongs to the field of edge computing and relates to data computing technology, specifically an edge computing device based on Beidou and multi-sensor fusion technology. Background Art

[0002] The Beidou satellite navigation system consists of three parts: the space segment, the ground segment and the user segment. It can provide high-precision, high-reliability positioning, navigation and timing services to all types of users around the world around the clock, and has short message communication capabilities. Sensors are detection devices that can sense the information being measured and convert the sensed information into electrical signals or other required forms of information output according to certain rules to meet the requirements of information transmission, processing, storage, display, recording and control.

[0003] The existence and development of sensors have given objects senses such as touch, taste and smell, making them come alive. Sensors are an extension of the five human senses. Sensors have the characteristics of miniaturization, digitization, intelligence, multi-function, systematization and networking. They are the primary link in realizing automatic detection and automatic control.

[0004] In the prior art, in the process of calculating the edge area of ​​a region, due to the irregular shape of the edge of the region, the calculation accuracy is low, and on-site calculation is required, which is cumbersome and cannot effectively and conveniently calculate the area at the edge. For this reason, we propose an edge computing device based on Beidou and multi-sensor fusion technology. Summary of the invention

[0005] In view of the shortcomings of the prior art, the object of the present invention is to provide an edge computing device based on Beidou and multi-sensor fusion technology.

[0006] The technical problems to be solved by the present invention are:

[0007] Due to the low calculation accuracy in the process of obtaining the regional area, the edge area cannot be calculated based on Beidou satellites and multiple sensors, which makes the calculation of the regional edge area more troublesome and the edge area cannot be calculated effectively and conveniently.

[0008] The object of the present invention can be achieved by the following technical solutions: an edge computing device based on Beidou and multi-sensor fusion technology, the edge computing device comprising a data acquisition module, a data analysis module, an edge computing module and a server;

[0009] Data acquisition module: used to acquire the regional image and the image zoom ratio;

[0010] Data analysis module: used for receiving the regional image and analyzing it according to the image features, dividing the regional image into the first regional area to the nth regional area, and obtaining image data;

[0011] Edge computing module: used to receive image analysis data and obtain numerical values ​​of the area enclosed by the first area to the nth area. The area of ​​each area is calculated based on the obtained numerical values, and the calculation is performed in combination with the scaling ratio to obtain edge computing data.

[0012] Furthermore, the data acquisition module includes a Beidou satellite, a distance sensor and an image sensor. The position of the area to be calculated is acquired by the Beidou satellite to obtain the position of the area to be calculated. According to the position of the area to be calculated, the image sensor acquires the image of the area to be calculated to obtain the area image. The distance sensor acquires the distance data of the area to be calculated, and the scaling ratio of the acquired image is calculated according to the ratio of the area image to the distance data.

[0013] Furthermore, the scaling ratio is obtained as follows:

[0014] It also includes an angle sensor, which acquires the actual distance between the two end points of the regional image through a distance sensor to obtain a first straight line l1 and a second straight line l2, connects the two end points to obtain a connecting line, and the two end points are respectively recorded as a first end point and a second end point, and measures the distance from the first end point to the second end point along the connecting line through the distance sensor to obtain a measured distance, selects the minimum connecting distance as a third straight line l3, and the intersection point between the third straight line and the connecting line is recorded as point c.

[0015] Furthermore, obtaining the scaling ratio also includes:

[0016] The angle between the first straight line and the third straight line is measured by the angle sensor and recorded as α1, and the angle between the second straight line and the third straight line is measured and recorded as α2. According to the angle α1 between the first straight line l1 and the third straight line l3 and the first straight line, the distance from the first end point to the point c is calculated by trigonometric function to obtain the distance b1. According to the angle α2 between the second straight line l2 and the third straight line l3 and the third straight line, the distance from the first end point to the point c is calculated by trigonometric function to obtain the distance b2.

[0017] Sinα1=b1 / l1, Sinα2=b2 / l3, we get b1 and b2;

[0018] The actual distance b between the first endpoint and the second endpoint is obtained by summing b1 and b2, the distance between the first endpoint and the second endpoint in the regional image is obtained to obtain the image distance b´, and the scaling ratio is obtained according to the obtained actual distance and the image distance.

[0019] Furthermore, the regional image is analyzed as follows:

[0020] Acquire the regional image, mark a plurality of inflection points on the regional image according to the image shape, and mark the plurality of inflection points as a1, a2, ..., aa respectively;

[0021] Draw a straight line perpendicular to the connecting line through aa inflection points to obtain the first straight line, the second straight line...the eth straight line, and mark the area enclosed by the connecting line, the first straight line, the second straight line and the inflection points a1 and a2 as the first region area, denoted as S1; thus, mark the area enclosed by the connecting line, the (e-1)th straight line, the eth straight line and the inflection points aa and (aa-1) as the nth region area, denoted as Sn, and obtain image analysis data. The image analysis data is received by the edge computing module to obtain numerical values ​​of the area enclosed by the first region area to the nth region area.

[0022] Furthermore, the area of ​​the first region is obtained as follows:

[0023] Process 1: Compare the lengths of the first straight line and the second straight line, draw a perpendicular line perpendicular to the other straight line through the endpoint of the shorter straight line to obtain the first perpendicular line, record the area of ​​the rectangle enclosed by the first perpendicular line, the first straight line, the second straight line and the connecting line as S11, obtain the lengths of the first perpendicular line c1 and the first straight line l1 of the two adjacent sides of the rectangle, and calculate the area of ​​the enclosed rectangle;

[0024] S11=c1×l1;

[0025] Process 2: Select q perpendicular points of equal distance on the first perpendicular line, draw extension lines through the perpendicular points to form intersections with the irregular curve between a1 and a2, and name the line segments formed between the intersections and the perpendicular points as the second perpendicular line, the third perpendicular line, and so on, the (q+1)th perpendicular line;

[0026] Process 3: respectively measure the distances of the second perpendicular line, the third perpendicular line, ..., the (q+1)th perpendicular line, and obtain the distance c11 of the second perpendicular line, the distance c12 of the third perpendicular line, ..., the distance c1q of the (q+1)th straight line;

[0027] Process 4: Compare the lengths of the second vertical line and the third vertical line, subtract the smaller value from the larger value to obtain the first deviation value, compare the lengths of the third vertical line and the fourth vertical line, subtract the smaller value from the larger value to obtain the second deviation value, ..., compare the lengths of the qth vertical line and the (q+1)th vertical line, subtract the smaller value from the larger value to obtain the (q-1)th deviation value;

[0028] Process 5: Obtaining a standard deviation value, calculating the image standard deviation value according to the scaling ratio of the standard deviation value to the image, and comparing the second vertical line, the first deviation value, the second deviation value, ... the (q-1)th deviation value with the image standard deviation value;

[0029] Furthermore, obtaining the area of ​​the first region further includes the following steps:

[0030] Process 6: If it is less than the image deviation value, the area of ​​the enclosed region is directly calculated;

[0031] If it is greater than the image deviation value, obtain the corresponding enclosed area range, select qc1 vertical points with equal distances on the corresponding vertical line, and repeat process 2 to process 5 until the obtained deviation value is less than the image standard deviation value;

[0032] Process 7: Calculate the area of ​​the enclosed region, sum the areas of the enclosed regions, and obtain the area S1 of the first region.

[0033] Further, if the first deviation value is less than the image standard deviation value, the intersection points formed by the second vertical line, the third vertical line, the first vertical line and the irregular curve are obtained, the area of ​​the enclosed area is divided into a rectangle and a triangle, and the rectangle and the triangle in the area are obtained;

[0034] The process of obtaining is as follows:

[0035] S 围成区域面积 23=c11×(c1 / q)+[|c11-c12|×(c1 / q)] / 2;

[0036] If the second perpendicular line is smaller than the image standard deviation value, the intersection point formed by the first perpendicular line, the second perpendicular line and the irregular curve is obtained, and the enclosed area forms a triangle;

[0037] The process of obtaining is as follows

[0038] S 围成区域面积 12=c11×(c1 / q) / 2.

[0039] Furthermore, through the process of obtaining the area S1 of the first region, the areas of the second area S2 to the nth area Sn are obtained respectively, and the area of ​​each area is obtained, and the area of ​​each area is added to obtain the image area, and the edge computing data is obtained by calculating the image area area in combination with the scaling ratio;

[0040] S 总区域面积 =S1+S2+S3+…+Sn;

[0041] Wherein, Stotal area represents the image area.

[0042] Furthermore, the regional image and distance data are obtained as follows:

[0043] According to the position of the area to be calculated, the position distance is obtained, and the area image is photographed using an image sensor according to the distance position, so that the area position is completely filled in the shooting interval to obtain the area image. During the shooting process, the edge points at both ends of the area image are obtained according to the image position, and multiple measurement points are selected from one edge point to another edge point through the distance sensor for step-by-step measurement, and the distance at the edge of the calculation area is obtained to obtain distance data.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] The present invention acquires the edge position through Beidou satellite, acquires the image and distance of the edge position according to multiple sensors, analyzes the acquired image, divides the regional image into multiple graphics for calculation, and can accurately obtain the edge image, thereby improving the accuracy of regional edge area calculation, and solving the problem that the regional edge area calculation is troublesome and the edge area cannot be calculated effectively and conveniently. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0047] Figure 1 A calculation step diagram of an edge computing device based on Beidou and multi-sensor fusion technology according to the present invention;

[0048] Figure 2 This is a schematic diagram of an analysis of an edge computing device based on Beidou and multi-sensor fusion technology in the present invention. DETAILED DESCRIPTION

[0049] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] In Example 1, please refer to Figure 1 and Figure 2 As shown, an edge computing device based on Beidou and multi-sensor fusion technology includes a detection data acquisition module, a data analysis module, an edge computing module and a server; the server is respectively connected to the detection data acquisition module, the data analysis module, and the edge computing module, and is used to control the collaborative cooperation of each module;

[0051] The data acquisition module acquires the regional image and the zoom ratio of the image;

[0052] In this embodiment, the data acquisition module includes a Beidou satellite, a distance sensor, and an image sensor. The position of the area to be calculated is acquired by the Beidou satellite to obtain the position of the area to be calculated. According to the position of the area to be calculated, the image sensor acquires the image of the area to be calculated to obtain the area image. The distance sensor acquires the distance data of the area to be calculated, and the zoom ratio of the acquired image is obtained according to the ratio of the area image to the distance data.

[0053] Among them, according to the position of the area to be calculated, the position distance is obtained, and the area image is photographed using an image sensor according to the distance position, so that the area position is completely filled in the shooting interval to obtain the area image. During the shooting process, the edge points at both ends of the area image are obtained according to the image position, and multiple measurement points are selected from one edge point to another edge point through the distance sensor for step-by-step measurement, and the distance at the edge of the calculation area is obtained to obtain distance data.

[0054] The zoom ratio is calculated as follows:

[0055] It also includes an angle sensor, which acquires the actual distance between the two end points of the regional image through a distance sensor to obtain a first straight line l1 and a second straight line l2, connects the two end points to obtain a connecting line, and the two end points are respectively recorded as a first end point and a second end point, and measures the distance from the first end point to the second end point along the connecting line through the distance sensor to obtain a measured distance, selects the minimum connecting distance as a third straight line l3, and the intersection point between the third straight line and the connecting line is recorded as point c;

[0056] The angle between the first straight line and the third straight line is measured by the angle sensor and recorded as α1, and the angle between the second straight line and the third straight line is measured and recorded as α2. According to the angle α1 between the first straight line l1 and the third straight line l3 and the first straight line, the distance from the first end point to the point c is calculated by trigonometric function to obtain the distance b1. According to the angle α2 between the second straight line l2 and the third straight line l3 and the third straight line, the distance from the first end point to the point c is calculated by trigonometric function to obtain the distance b2.

[0057] Sinα1=b1 / l1, Sinα2=b2 / l3, we get b1 and b2;

[0058] The actual distance b between the first endpoint and the second endpoint is obtained by summing b1 and b2, the distance between the first endpoint and the second endpoint in the regional image is obtained to obtain the image distance b´, and the zoom ratio is obtained according to the obtained actual distance and the image distance;

[0059] The data analysis module receives the regional image and analyzes it according to the image features to obtain image data;

[0060] The regional image is analyzed as follows:

[0061] Acquire the regional image, mark a plurality of inflection points on the regional image according to the image shape, and mark the plurality of inflection points as a1, a2, ..., aa respectively;

[0062] A straight line perpendicular to the connecting line is drawn through aa inflection points to obtain the first straight line, the second straight line, ... the eth straight line. The area enclosed by the connecting line, the first straight line, the second straight line and the inflection points a1 and a2 is marked as the first area area, recorded as S1; thus, the area enclosed by the connecting line, the (e-1)th straight line, the eth straight line and the inflection points aa and (aa-1) is marked as the nth area area, recorded as Sn, and the image analysis data is obtained;

[0063] The edge computing module receives the image analysis data and obtains numerical values ​​of the area enclosed by the first area to the nth area, and calculates the area of ​​each area according to the obtained numerical values ​​to obtain edge computing data;

[0064] The area of ​​the first region is calculated as follows:

[0065] Process 1: Compare the lengths of the first straight line and the second straight line, draw a perpendicular line perpendicular to the other straight line through the endpoint of the shorter straight line to obtain the first perpendicular line, record the area of ​​the rectangle enclosed by the first perpendicular line, the first straight line, the second straight line and the connecting line as S11, obtain the lengths of the first perpendicular line c1 and the first straight line l1 of the two adjacent sides of the rectangle, and calculate the area of ​​the enclosed rectangle;

[0066] S11=c1×l1;

[0067] Process 2: Please refer to Figure 2 , select q perpendicular points of equal distance on the first perpendicular line, draw extended lines through the perpendicular points to form intersections with the irregular curve between a1 and a2, and name the line segments formed between the intersections and the perpendicular points as the second perpendicular line, the third perpendicular line, ... the (q+1)th perpendicular line;

[0068] Process 3: respectively measure the distances of the second perpendicular line, the third perpendicular line, ..., the (q+1)th perpendicular line, and obtain the distance c11 of the second perpendicular line, the distance c12 of the third perpendicular line, ..., the distance c1q of the (q+1)th straight line;

[0069] Process 4: Compare the lengths of the second vertical line and the third vertical line, subtract the smaller value from the larger value to obtain the first deviation value, compare the lengths of the third vertical line and the fourth vertical line, subtract the smaller value from the larger value to obtain the second deviation value, ..., compare the lengths of the qth vertical line and the (q+1)th vertical line, subtract the smaller value from the larger value to obtain the (q-1)th deviation value;

[0070] Process 5: Obtaining a standard deviation value, calculating the image standard deviation value according to the scaling ratio of the standard deviation value to the image, and comparing the second vertical line, the first deviation value, the second deviation value, ... the (q-1)th deviation value with the image standard deviation value;

[0071] Process 6: If it is less than the image deviation value, the area of ​​the enclosed region is directly calculated;

[0072] If it is greater than the image deviation value, obtain the corresponding enclosed area range, select qc1 vertical points with equal distances on the corresponding vertical line, and repeat process 2 to process 5 until the obtained deviation value is less than the image standard deviation value;

[0073] Process 7: Calculate the area of ​​the enclosed region, sum the areas of the enclosed regions, and obtain the area S1 of the first region;

[0074] In Embodiment 2, if the first deviation value is less than the image standard deviation value, the intersection points formed by the second vertical line, the third vertical line, the first vertical line and the irregular curve are obtained, the area of ​​the enclosed region is divided into a rectangle and a triangle, and the rectangle and the triangle in the region are obtained;

[0075] The process of obtaining is as follows:

[0076] S 围成区域面积23 =c11×(c1 / q)+[|c11-c12|×(c1 / q)] / 2;

[0077] If the second perpendicular line is smaller than the image standard deviation value, the intersection point formed by the first perpendicular line, the second perpendicular line and the irregular curve is obtained, and the enclosed area forms a triangle;

[0078] The process of obtaining is as follows

[0079] S 围成区域面积12 =c11×(c1 / q) / 2;

[0080] By obtaining the area S1 of the first region, the areas of the second region S2 to the nth region Sn are obtained respectively, and the area of ​​each region is obtained. The area of ​​each region is added to obtain the image region area, and the edge computing data is obtained by calculating the image region area in combination with the scaling ratio;

[0081] S 总区域面积 =S1+S2+S3+…+Sn;

[0082] Among them, S 总区域面积 Represents the area of ​​the image region;

[0083] It should be noted that, in the present application, the standard deviation value is a value set to reduce the error in the calculation process, which is the actual value in the measurement process and ranges from 0.1 to 0.5 m.

[0084] In another embodiment: an edge computing device based on Beidou and multi-sensor fusion technology includes the following steps during the computing process:

[0085] Step S1: acquiring the position of the area to be calculated by using the Beidou satellite to obtain the position of the area to be calculated; acquiring the image of the area to be calculated by the image sensor according to the position of the area to be calculated to obtain the area image; acquiring the distance data of the area to be calculated by the distance sensor; and obtaining the zoom ratio of the acquired image according to the ratio of the area image to the distance data;

[0086] The zoom ratio is obtained as follows:

[0087] Step S11: also includes an angle sensor, which acquires the actual distance between the two end points of the regional image through a distance sensor to obtain a first straight line l1 and a second straight line l2, connects the two end points to obtain a connecting line, and the two end points are respectively recorded as the first end point and the second end point, and measures the distance from the first end point to the second end point along the connecting line through the distance sensor to obtain a measured distance, selects the smallest connecting distance as a third straight line l3, and the intersection point between the third straight line and the connecting line is recorded as point c;

[0088] Step S12: using an angle sensor to measure the angle between the first straight line and the third straight line as α1, and measuring the angle between the second straight line and the third straight line as α2. According to the angle α1 between the first straight line l1 and the third straight line l3, the distance from the first end point to the point c is calculated by the trigonometric function in combination with the first straight line to obtain the distance b1. According to the angle α2 between the second straight line l2 and the third straight line l3, the distance from the first end point to the point c is calculated by the trigonometric function in combination with the third straight line to obtain the distance b2.

[0089] Step S13: summing b1 and b2 to obtain the actual distance b between the first endpoint and the second endpoint, obtaining the distance between the first endpoint and the second endpoint in the regional image to obtain the image distance b´, and obtaining the zoom ratio according to the obtained actual distance and the image distance;

[0090] Step S2: Acquire the regional image, mark multiple inflection points on the regional image according to the image shape, and mark the multiple inflection points as a1, a2, ..., aa respectively; draw a straight line perpendicular to the connecting line through the aa inflection points to obtain the first straight line, the second straight line ... the e-th straight line, mark the area enclosed by the connecting line, the first straight line, the second straight line and the inflection points a1 and a2 as the first regional area, recorded as S1; thus, mark the area enclosed by the connecting line, the (e-1)th straight line, the e-th straight line and the inflection points aa and (aa-1) as the nth regional area, recorded as Sn, and obtain image analysis data;

[0091] Step S3: receiving image analysis data, obtaining numerical values ​​of the area enclosed by the first area to the nth area, and calculating the area of ​​each area according to the obtained numerical values ​​to obtain edge computing data;

[0092] The area of ​​the first region is calculated as follows:

[0093] Compare the lengths of the first straight line and the second straight line, draw a perpendicular line perpendicular to the other straight line through the endpoint of the shorter straight line to obtain the first perpendicular line, record the area of ​​the rectangle enclosed by the first perpendicular line, the first straight line, the second straight line and the connecting line as S11, obtain the lengths of the first perpendicular line c1 and the first straight line l1 of the two adjacent sides of the rectangle, and calculate the area of ​​the enclosed rectangle;

[0094] Select q perpendicular points of equal distance on the first perpendicular line, draw extension lines through the perpendicular points to form intersections with the irregular curve between a1 and a2, and name the line segments formed between the intersections and the perpendicular points as the second perpendicular line, the third perpendicular line, and so on. (q+1)th perpendicular line;

[0095] The distances of the second perpendicular line, the third perpendicular line, ..., the (q+1)th perpendicular line are measured respectively to obtain the distance c11 of the second perpendicular line, the distance c12 of the third perpendicular line, ..., the distance c1q of the (q+1)th straight line;

[0096] Compare the lengths of the second perpendicular line with the third perpendicular line, subtract the smaller value from the larger value to obtain the first deviation value, compare the lengths of the third perpendicular line with the fourth perpendicular line, subtract the smaller value from the larger value to obtain the second deviation value, ..., compare the lengths of the qth perpendicular line with the (q+1)th perpendicular line, subtract the smaller value from the larger value to obtain the (q-1)th deviation value;

[0097] Obtaining a standard deviation value, calculating the image standard deviation value according to a scaling ratio of the standard deviation value to the image, and comparing the second vertical line, the first deviation value, the second deviation value, ... the (q-1)th deviation value with the image standard deviation value;

[0098] If it is less than the image deviation value, the area of ​​the enclosed region is directly calculated;

[0099] If it is greater than the image deviation value, obtain the corresponding enclosed area range, select qc1 vertical points with equal distances on the corresponding vertical line, and repeat process 2 to process 5 until the obtained deviation value is less than the image standard deviation value;

[0100] The area of ​​the enclosed region is obtained, and the area of ​​the enclosed region is summed to obtain the area S1 of the first region;

[0101] By obtaining the area S1 of the first region, the areas of the second region S2 to the nth region Sn are obtained respectively, and the area of ​​each region is obtained. The area of ​​each region is added together to obtain the image region area, and the edge computing data is obtained by calculating the image region area in combination with the scaling ratio.

[0102] The above formulas are all dimensionless and numerical calculations. The formula is a formula for the most recent real situation obtained by collecting a large amount of data and performing software simulation. The preset parameters in the formula are set by technical personnel in this field according to actual conditions. The size of the weight coefficient and the proportional coefficient is to quantify each parameter to obtain a specific value, which is convenient for subsequent comparison. Regarding the size of the weight coefficient and the proportional coefficient, as long as it does not affect the proportional relationship between the parameter and the quantized value, it is fine.

[0103] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. An edge computing device based on Beidou and multi-sensor fusion technology, characterized in that: The edge computing device includes a data acquisition module, a data analysis module, an edge computing module and a server; Data acquisition module: used to acquire the regional image and the image zoom ratio; Data analysis module: used for receiving the regional image and analyzing it according to the image features, dividing the regional image into the first regional area to the nth regional area, and obtaining image analysis data; Edge computing module: used to receive image analysis data and obtain numerical values ​​of the area enclosed by the first area to the nth area, and calculate the area of ​​each area according to the obtained numerical values, and calculate in combination with the scaling ratio to obtain edge computing data; The server is connected to the data acquisition module, data analysis module, and edge computing module respectively to control the collaboration of each module; The data acquisition module acquires the position of the area to be calculated through the Beidou satellite to obtain the position of the area to be calculated. According to the position of the area to be calculated, the image sensor acquires the image of the area to be calculated to obtain the area image. The distance sensor acquires the distance data of the area to be calculated, obtains the area image and the distance data, and obtains the zoom ratio of the acquired image according to the ratio of the area image to the distance data; The specific method of obtaining the zoom ratio of the acquired image is as follows: It also includes an angle sensor, which measures the distance between the first endpoint and the second endpoint through a distance sensor to obtain a first straight-line distance l1 from the distance sensor to the first endpoint and a second straight-line distance l2 from the distance sensor to the second endpoint; Connect the two end points to obtain a connecting line, measure the distance from the first end point to the second end point of the connecting line by using a distance sensor, and then select the smallest measured distance as the third straight line distance l3, and the intersection point between the third straight line corresponding to the third straight line distance l3 and the connecting line is recorded as point c; The angle between the first straight line corresponding to the first straight line distance l1 and the third straight line corresponding to the third straight line distance l3 is measured by the angle sensor and recorded as α1. The angle between the second straight line corresponding to the second straight line distance l2 and the third straight line corresponding to the third straight line distance l3 is measured and recorded as α2. According to the included angle α1 between the first straight line and the third straight line combined with the first straight line distance l1, the distance from the first end point to the point c is calculated by the trigonometric function to obtain the distance b1. According to the included angle α2 between the second straight line and the third straight line combined with the second straight line distance l2, the distance from the second end point to the point c is calculated by the trigonometric function to obtain the distance b2. Sinα1=b1 / l1, Sinα2=b2 / l2, we get b1 and b2; The actual distance b between the first endpoint and the second endpoint is obtained by summing b1 and b2, the distance between the first endpoint and the second endpoint in the regional image is obtained to obtain the image distance b´, and the zoom ratio is obtained according to the obtained actual distance and the image distance; The specific steps for obtaining the regional image and distance data are as follows: According to the position of the area to be calculated, the position distance is obtained, and the area image is photographed using an image sensor according to the position distance, so that the area position is completely filled in the shooting interval to obtain the area image. During the shooting process, the edge points at both ends of the area image are obtained according to the image position, and multiple measurement points are selected from one edge point to another edge point. The distance sensor is used to measure step by step to obtain the distance at the edge of the calculation area to obtain distance data.

2. The edge computing device based on Beidou and multi-sensor fusion technology according to claim 1, characterized in that: The analysis of the regional image is as follows: Acquire the regional image, mark a plurality of inflection points on the regional image according to the image shape, and mark the plurality of inflection points as a1, a2, ..., aa respectively; Draw a perpendicular line perpendicular to the connecting line of the first endpoint and the second endpoint through aa inflection points to obtain the first perpendicular line, the second perpendicular line...the eth perpendicular line, and mark the area enclosed by the connecting line, the first perpendicular line, the second perpendicular line and the inflection points a1 and a2 as the first region area, denoted as S1; thus, mark the area enclosed by the connecting line, the (e-1)th perpendicular line, the eth perpendicular line and the inflection points aa and (aa-1) as the nth region area, denoted as Sn, and obtain image analysis data. The image analysis data is received by the edge computing module to obtain numerical values ​​of the area enclosed by the first region area to the nth region area, and the area of ​​each region is calculated according to the obtained numerical values ​​to obtain edge computing data.

3. The edge computing device based on Beidou and multi-sensor fusion technology according to claim 2 is characterized in that: The area of ​​the first region is calculated as follows: Process 1: Compare the lengths of the first perpendicular line and the second perpendicular line, draw a perpendicular line perpendicular to the other longer perpendicular line through the endpoint of the shorter perpendicular line to obtain the first sub-perpendicular line, record the area of ​​the rectangle enclosed by the first sub-perpendicular line, the first perpendicular line, the second perpendicular line and the connecting line as S11, obtain the lengths of the first perpendicular lines c1 and the first sub-perpendicular line l1' of the adjacent two sides of the rectangle, and calculate the area of ​​the enclosed rectangle; S11=c1×l1'; Process 2: Select q perpendicular points of equal distance on the first subperpendicular line, draw extension lines through the perpendicular points to form intersections with the irregular curve between a1 and a2, and name the line segments formed between the intersections and the perpendicular points as the second subperpendicular line, the third subperpendicular line, and so on, the (q+1)th subperpendicular line; Process 3: respectively measure the distances of the second sub-perpendicular line, the third sub-perpendicular line, ..., the (q+1)th sub-perpendicular line, and obtain the distance c11 of the second sub-perpendicular line, the distance c12 of the third sub-perpendicular line, ..., the distance c1q of the (q+1)th sub-perpendicular line; Process 4: Compare the lengths of the second sub-vertical line and the third sub-vertical line, subtract the smaller value from the larger value to obtain the first deviation value, compare the lengths of the third vertical line and the fourth vertical line, subtract the smaller value from the larger value to obtain the second deviation value, ..., compare the lengths of the qth vertical line and the (q+1)th vertical line, subtract the smaller value from the larger value to obtain the (q-1)th deviation value; Process 5: Obtaining a standard deviation value, calculating the image standard deviation value according to the standard deviation value and the scaling ratio of the image, and comparing the second vertical line, the first deviation value, the second deviation value, ... the (q-1)th deviation value with the image standard deviation value.

4. The edge computing device based on Beidou and multi-sensor fusion technology according to claim 3 is characterized in that: Obtaining the area of ​​the first region further includes the following steps: Process 6: Compare the deviation value with the image standard deviation value. If the deviation value is smaller than the image standard deviation value, directly calculate the area of ​​the enclosed region; If it is greater than the image standard deviation, obtain the corresponding enclosed area, select qc1 vertical points with equal distances on the corresponding vertical line, and repeat process 2 to process 5 until the obtained deviation value is less than the image standard deviation value; Process 7: Calculate the area of ​​the enclosed region, sum the areas of the enclosed regions, and obtain the area S1 of the first region.

5. The edge computing device based on Beidou and multi-sensor fusion technology according to claim 3 is characterized in that: If the first deviation value is less than the image standard deviation value, the intersection points formed by the second vertical line, the third vertical line, the first vertical line and the irregular curve are obtained, the area of ​​the enclosed area is divided into a rectangle and a triangle, and the rectangle and triangle in the area are obtained; The process of obtaining is as follows: S 围成区域面积23 =c11×(c1 / q)+[|c11-c12|×(c1 / q)] / 2; If the second perpendicular line is smaller than the image standard deviation value, the intersection point formed by the first perpendicular line, the second perpendicular line and the irregular curve is obtained, and the enclosed area forms a triangle; The process of obtaining is as follows S 围成区域面积12 =c11×(c1 / q) / 2。 6. The edge computing device based on Beidou and multi-sensor fusion technology according to claim 4, characterized in that: By obtaining the area S1 of the first region, the areas of the second region S2 to the nth region Sn are obtained respectively, and the area of ​​each region is obtained. The area of ​​each region is added to obtain the image region area, and the edge computing data is obtained by calculating the image region area in combination with the scaling ratio; S 总区域面积 =S1+S2+S3+……+Sn; Among them, S 总区域面积 Represents the area of ​​the image region.

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