Control method, device and equipment of sampling system and storage medium

Abstract

The invention discloses a sampling system control method, device and equipment and a storage medium, and relates to the technical field of grain sampling, and the sampling system control method comprises the following steps: obtaining position information of a carriage of a transport vehicle and size information of the carriage; establishing a plane coordinate system corresponding to the grain surface to be sampled according to the position information; under the plane coordinate system, determining a preset coordinate range according to the size information; randomly generating coordinate information of sampling point locations with the same number as the preset sampling number in the preset coordinate range; and performing sampling track planning on the generated coordinates of the sampling points. The invention aims to improve the efficiency and reliability of the whole sampling process.

Description

Technical Field

[0001] The present application relates to the technical field of grain sampling, and in particular to a control method, device, equipment and storage medium of a sampling system. Background Art

[0002] In the supervision of grain quality and safety, sampling is an important link, which can ensure the quality and safety of grain. The accuracy of grain sampling directly affects the quality control of subsequent grain processing, storage and distribution. With the globalization of grain trade, the circulation speed and quantity of grain have greatly increased, which requires the sampling process to be efficient, accurate and able to adapt to the needs of large-scale grain transportation.

[0003] There are many types of grain transport vehicles, including trucks, containers, bulk grain transport vehicles, etc. Most of the grain is currently transported by transport vehicles. When sampling is required, the transport vehicle needs to be driven into the sampling area, and the grain in the carriage is randomly sampled by a sampling device or equipment in a predetermined coordinate system. Due to the differences in vehicle length, carriage shape and parking position, the sampling device or device needs to return to the original position for alignment adjustment and calculation of sampling points, so as to facilitate sampling of the next transport vehicle.

[0004] This method of returning to the origin position and recalculating the sampling point each time will significantly increase the sampling time and reduce the sampling efficiency. Summary of the invention

[0005] The main purpose of the present application is to provide a control method, device, equipment and storage medium for a sampling system, aiming to improve the efficiency and reliability of the entire sampling process.

[0006] To achieve the above object, the present application proposes a control method for a sampling system, the control method for the sampling system comprising:

[0007] Acquire location information of a carriage of a transport vehicle and size information of the carriage;

[0008] Establishing a plane coordinate system corresponding to the surface to be planted according to the position information;

[0009] In the plane coordinate system, determining a preset coordinate range according to the size information;

[0010] Randomly generate coordinate information of sampling points of the same number as the preset number of sampling points within the preset coordinate range;

[0011] The generated sampling point coordinates are used for sampling trajectory planning.

[0012] In one embodiment, the step of obtaining the position information of the carriage of the transport vehicle and the size information of the carriage includes:

[0013] Obtaining a width extension direction of the carriage and obtaining a length extension direction of the carriage;

[0014] The width dimension of the carriage and the length dimension of the carriage are obtained.

[0015] In one embodiment, the step of establishing a plane coordinate system corresponding to the surface to be planted according to the position information includes:

[0016] The original position of the sampling actuator is taken as the coordinate origin;

[0017] The length extension direction of the carriage is taken as the extension direction of the X-axis;

[0018] The width extension direction of the carriage is used as the extension direction of the Y axis;

[0019] The plane coordinate system is determined according to the coordinate origin, the X-axis and the Y-axis.

[0020] In one embodiment, the step of randomly generating coordinate information of sampling points having the same number as the preset number of sampling points within the preset coordinate range comprises:

[0021] In the plane coordinate system, obtaining a minimum distance X between the Y axis and the carriage, and obtaining a minimum distance Y between the X axis and the carriage;

[0022] The coordinate information (x i ,y i );

[0023] The random selection formula is:

[0024] x i =X+(A / a)*m i

[0025] y i =Y+(B / b)*n i

[0026] In the formula, x i represents the value of the X-axis of the i-th sampling point; i represents the Y-axis value of the i-th sampling point; A represents the length of the carriage; a is the first fixed value; b is the second fixed value; B represents the width of the carriage; m i represents the first random number corresponding to the i-th sampling point; n i Represents the second random number corresponding to the i-th sampling point, 0≤n i ≤b.

[0027] In one embodiment, in determining the coordinate information (x i ,y i ) steps before include:

[0028] determining a first fixed value and a second fixed value;

[0029] The first random numbers and the second random numbers, which are the same in number as the preset sampling number, are randomly generated according to the first fixed value and the second fixed value.

[0030] In one embodiment, after the step of randomly generating the first random numbers and the second random numbers having the same number as the preset sampling number according to the first fixed value and the second fixed value, the method further includes:

[0031] Determine whether a plurality of the first random numbers have the same value;

[0032] If so, re-randomly generate multiple new first random numbers from the same multiple first random numbers until the values ​​of the generated multiple new first random numbers are different from the values ​​of the unchanged multiple first random numbers and the values ​​of each new first random number are different;

[0033] Determine whether a plurality of the second random numbers have the same value;

[0034] If so, multiple new second random numbers are randomly generated from the same multiple second random numbers until the values ​​of the generated multiple new second random numbers are different from the values ​​of the multiple second random numbers that have not changed and the values ​​of each new second random number are different.

[0035] In one embodiment, the step of performing sampling trajectory planning on the generated sampling point coordinates includes:

[0036] Calculating the square of the distance between each sampling point and other sampling points according to the coordinate information of the plurality of sampling points;

[0037] Arrange and combine the path plans between the sampling points;

[0038] Calculating the sum of the squares of the distances of each segment in each of the path plans to determine the trajectory final value of each of the path plans;

[0039] Compare the final values ​​of the trajectories, and select the path plan with the smallest final value of the trajectory as the optimal plan;

[0040] The coordinate information of the sampling points in the optimal solution is output in sequence according to the optimal solution.

[0041] In addition, to achieve the above-mentioned purpose, the present application also proposes a grain sampling device, which comprises:

[0042] An information collection module, used to obtain the position information of the carriage of the transport vehicle and the size information of the carriage;

[0043] A processing module, used for establishing a plane coordinate system corresponding to the surface to be seeded according to the plane information; and determining a preset coordinate range according to the size information in the plane coordinate system;

[0044] The generation module is used to randomly generate the coordinate information of the same number of sampling points as the preset sampling number within the preset coordinate range; and perform trajectory planning on the generated coordinates of each sampling point.

[0045] In addition, to achieve the above-mentioned purpose, the present application also proposes a grain sampling device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the control method of the sampling system as described above.

[0046] In addition, to achieve the above objectives, the present application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the control method of the sampling system as described above are implemented.

[0047] The present application proposes a control method for a sampling system, which obtains the position information of a carriage of a transport vehicle and the size information of the carriage; establishes a plane coordinate system corresponding to the grain surface to be sampled according to the position information; determines a preset coordinate range according to the size information in the plane coordinate system; randomly generates coordinate information of the same number of sampling points as the preset number of samplings in the plane coordinate system within the preset coordinate range; plans the sampling trajectory for the generated coordinates of each sampling point, so that the sampling device or equipment can establish a new plane coordinate system in time according to the parking position of the transport vehicle, and randomly distributes the sampling points in the preset coordinate range determined according to the carriage size information according to the new plane coordinate system, so as to ensure that the sampling points can be accurately on the grain surface to be sampled in the carriage, and finally enables the sampling device or equipment to perform sampling operations one by one according to the sampling trajectory. Through the above steps, the control method of the sampling system of the present application can automatically identify the parking position of the vehicle and adjust the sampling coordinates of the sampling device or equipment in real time. In this way, the sampling equipment can quickly and accurately locate the sampling point without human intervention, thereby improving the efficiency and reliability of the entire sampling process and the degree of automation of the sampling process. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0049] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0050] Figure 1 A schematic diagram of a flow chart of a control method for a sampling system according to an embodiment of the present invention;

[0051] Figure 2 A flow chart of a control method for a sampling system according to the present application;

[0052] Figure 3 A flow chart of the control method of the sampling system of the present application provided in Example 3;

[0053] Figure 4 A flow chart of a control method for a sampling system according to a fourth embodiment of the present invention;

[0054] Figure 5 A flow chart of a control method for a sampling system according to a fifth embodiment of the present invention;

[0055] Figure 6 This is a schematic diagram of the module structure of the control device of the sampling system of the embodiment of the present application;

[0056] Figure 7 Schematic diagram of the structure of the control device of the sampling system of the embodiment of the present application.

[0057] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0058] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0059] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0060] The main solution of the embodiment of the present application is: obtaining the position information of the carriage of the transport vehicle and the size information of the carriage; establishing a plane coordinate system corresponding to the surface to be sampled based on the position information; determining a preset coordinate range based on the size information in the plane coordinate system; randomly generating the coordinate information of the same number of sampling points as the preset number of sampling points within the preset coordinate range; and planning the sampling trajectory for the generated coordinates of each sampling point.

[0061] There are many types of grain transport vehicles, including trucks, containers, bulk grain transport vehicles, etc. Most of the grain is currently loaded and transported by transport vehicles. When sampling is required, the transport vehicle needs to be driven into the sampling area, and the grain in the carriage is randomly sampled by a sampling device or equipment in a predetermined coordinate system. Due to the differences in vehicle length, carriage shape and parking position, the sampling device or device needs to return to the origin position for alignment adjustment and calculation of sampling points to facilitate sampling of the next transport vehicle. This method of returning to the origin position and recalculating the sampling points each time will significantly increase the sampling time and reduce the sampling efficiency.

[0062] The control method of the sampling system of the present application can automatically identify the parking position of the vehicle and adjust the sampling coordinates of the sampling device or equipment in real time. In this way, the sampling equipment can quickly and accurately locate the sampling point without human intervention, thereby improving the efficiency and reliability of the entire sampling process and the degree of automation of the sampling process.

[0063] A sampling system is a system used to collect samples, data or information. In scientific research, engineering or other experimental environments, sampling systems are usually used to collect samples from a specific location or area for analysis, testing or research. Sampling systems usually include equipment for sampling operations, equipment for sample processing, equipment for storing grain, etc.

[0064] It should be noted that the execution subject of this embodiment can be a sampling system, or a computing service device with data processing, network communication and program running functions, such as a sampling machine, a sampling machine, etc., or a control device of a sampling system capable of realizing the above functions, etc., and this embodiment does not specifically limit this. The following takes the sampling system as an example of the execution subject to illustrate this embodiment and the following embodiments.

[0065] Based on this, the present application proposes a control method of a sampling system of the first embodiment, please refer to Figure 1 The control method of the sampling system includes steps S10 to S50:

[0066] Step S10, obtaining the position information of the carriage of the transport vehicle and the size information of the carriage;

[0067] It should be noted that the sampling system refers to a combination of a series of equipment, tools and methods used to take samples from a batch of grains, which is used to ensure that the collected samples can represent the quality of the entire batch of grains, so that through the inspection and analysis of the samples, an accurate judgment can be made on the quality and safety of the entire batch of grains. The carriage of a transport vehicle refers to the container part for loading grains. It is a part of the vehicle used to transport and store goods. The top of the carriage is usually open to expose the grains, making it easier for the sampling equipment to sample the grains.

[0068] In addition, it should be noted that the position information of the carriage generally refers to the specific parking position of the carriage in the sampling area. The size information of the carriage refers to the physical size parameters of the carriage, generally including length, width and height.

[0069] Step S20, establishing a plane coordinate system corresponding to the surface to be planted according to the position information;

[0070] It should be noted that the grain surface to be sampled refers to the surface of the grain to be sampled. Since the grain is generally stored in a carriage, the size of the area of ​​the grain surface to be sampled can be regarded as the size of the top surface of the carriage.

[0071] Step S30, determining a preset coordinate range according to the size information in the plane coordinate system;

[0072] It should be noted that the preset coordinate range is the boundary range of the car in the plane coordinate system determined according to the length and width of the car. These boundaries will form a rectangular area, representing the space in the car where sampling can be performed, ensuring that the sampling points are distributed within the effective space of the car.

[0073] Step S40, randomly generating coordinate information of sampling points of the same number as the preset sampling number within the preset coordinate range;

[0074] It should be noted that the randomly generated coordinate information of the sampling points refers to the use of a random number generator or other random algorithms to generate a series of random coordinate points within a preset coordinate range, so as to fully ensure the randomness of the sampling points and the reliability of the sampling.

[0075] In addition, during the grain sampling process, a certain number of sampling points are set in advance to ensure that the sampling results can represent the quality of the entire batch of grain. This number is determined based on relevant quality control standards, statistical principles, and grain characteristics. The specific value of the preset sampling number may vary depending on different quality control standards, statistical principles, and grain characteristics. In actual operation, the preset sampling number may be determined through professional statistical analysis to ensure the effectiveness and reliability of sampling.

[0076] In a feasible implementation manner, before step S42, the method may include: determining a first fixed value and a second fixed value; and randomly generating the same number of the first random numbers and the second random numbers as the preset sampling number according to the first fixed value and the second fixed value.

[0077] It should be noted that in this step, the first fixed value and the second fixed value need to be determined. These fixed values ​​can be constants related to the length and width of the carriage, such as half of the length of the carriage, half of the width of the carriage, etc. The main purpose is to divide the length and width of the carriage into equal parts and to limit the range of the first random number and the second random number to ensure that x i and i The value of can fall within the preset coordinate range.

[0078] In addition, the first random number and the second random number can use a random number generator to generate the same number of random numbers as the preset sampling number.

[0079] Step S50, planning sampling trajectories based on the generated sampling point coordinates.

[0080] It should be noted that sampling trajectory planning usually involves the following steps: Determine the sampling order: determine the order in which the sampling device visits each sampling point to ensure the efficiency and order of sampling; determine the sampling device path, plan the path of the sampling device from one sampling point to another, and ensure that the path is the shortest and most effective; generate motion control instructions: generate motion control instructions for the sampling device based on the planned path to guide the device to move accurately to each sampling point. In this way, it can be ensured that the sampling device can efficiently and accurately reach the preset sampling point, thereby improving the efficiency and accuracy of the sampling operation.

[0081] In summary, the control method of the sampling system proposed in the present application obtains the position information of the carriage of the transport vehicle and the size information of the carriage; establishes a plane coordinate system corresponding to the grain surface to be sampled according to the position information; in the plane coordinate system, determines a preset coordinate range according to the size information; in the plane coordinate system, randomly generates coordinate information of the same number of sampling points as the preset number of sampling within the preset coordinate range; plans the sampling trajectory for the generated coordinates of each sampling point, so that the sampling device or equipment can establish a new plane coordinate system in time according to the parking position of the transport vehicle, and randomly distributes the sampling points in the preset coordinate range determined according to the carriage size information according to the new plane coordinate system, so as to ensure that the sampling points can be accurately on the grain surface to be sampled in the carriage, and finally enables the sampling device or equipment to perform sampling operations one by one according to the sampling trajectory. Through the above steps, the control method of the sampling system of the present application can automatically identify the parking position of the vehicle and adjust the sampling coordinates of the sampling device or equipment in real time. In this way, the sampling equipment can quickly and accurately locate the sampling point without human intervention, thereby improving the efficiency and reliability of the entire sampling process and the degree of automation of the sampling process.

[0082] In one possible implementation, please refer to Figure 2 , step S10 may include the following steps:

[0083] Step S11, obtaining the width extension direction of the carriage and obtaining the length extension direction of the carriage;

[0084] In this step, the goal is to determine the extension of the car in both width and length. This usually involves the orientation and position of the car, as cars can be parked in different ways, which affects the specific implementation of the sampling.

[0085] Step S12, obtaining the width dimension of the carriage and the length dimension of the carriage.

[0086] In this embodiment, the actual physical dimensions of the carriage, including the width and length of the carriage, are obtained, and then the opening area on the top of the carriage and the position of the grain surface to be sampled are determined, thereby completing the determination of the value range of the sampling points; wherein, the width extension direction is the left-right direction of the carriage; and the length extension direction is the front-back direction of the carriage.

[0087] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can refer to the above introduction, and will not be repeated later. Figure 3 The step of establishing a plane coordinate system corresponding to the surface to be planted according to the position information may include the following steps:

[0088] Step S21, taking the original position of the sampling actuator as the coordinate origin;

[0089] In this step, the initial position of the sampling actuator (such as a sampling robot or a sampling drill) is set as the coordinate origin. This origin is usually the fixed position of the sampling device, or the center point of the sampling area, which serves as a reference point for subsequent coordinate calculations.

[0090] Step S22, taking the length extension direction of the carriage as the extension direction of the X-axis;

[0091] In this step, the direction of the X-axis is consistent with the front-rear direction of the carriage, and the X-axis is used to determine the position of the sampling points along the length direction in the carriage.

[0092] Step S23, taking the width extension direction of the carriage as the extension direction of the Y axis;

[0093] In this step, the direction of the Y axis is consistent with the left-right direction of the car. The Y axis is used to determine the location of the sampling points along the width direction of the car.

[0094] Step S24, determining the plane coordinate system according to the coordinate origin, the X-axis and the Y-axis.

[0095] In this embodiment, a plane coordinate system can be established by combining the coordinate origin and the directions of the X-axis and the Y-axis defined in steps S21, S22 and S23. This coordinate system is used to accurately locate the position of each sampling point in the carriage. In actual operation, this coordinate system can help the sampling equipment or operators to accurately navigate to the predetermined sampling points in the carriage, ensuring the representativeness and randomness of the sampling.

[0096] Based on the first embodiment and / or the second embodiment of the present application, in the third embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment one and embodiment two can be referred to the above introduction and will not be repeated later.

[0097] On this basis, step S40 may include the following steps:

[0098] Step S41, in the plane coordinate system, obtaining the minimum distance X between the Y axis and the carriage, and obtaining the minimum distance Y between the X axis and the carriage;

[0099] Step S42: Determine the coordinate information (x i ,y i );

[0100] The random selection formula is:

[0101] x i =X+(A / a)*m i

[0102] yi =Y+(B / b)*n i

[0103] In the formula, x i represents the value of the X-axis of the i-th sampling point; i represents the Y-axis value of the i-th sampling point; A represents the length of the carriage; a is the first fixed value; b is the second fixed value; B represents the width of the carriage; m i represents the first random number corresponding to the i-th sampling point; n i Represents the second random number corresponding to the i-th sampling point, 0≤n i ≤b.

[0104] In this embodiment, through these steps, it can be ensured that the sampling point coordinate information with the same number as the preset sampling format is randomly generated in the coordinate system, thereby ensuring the randomness of the sampling.

[0105] Based on the first embodiment and / or the second embodiment and / or the third embodiment of the present application, the same or similar contents of the above-mentioned embodiment 1 and embodiment 2 can refer to the above introduction and will not be repeated later. Figure 4 , after the step of randomly generating the first random number and the second random number having the same number as the preset sampling number according to the first fixed value and the second fixed value, the method may include:

[0106] Step S44, determining whether multiple first random numbers have the same value;

[0107] The main purpose of this step is to compare the multiple first random numbers generated to check whether there are identical values ​​and avoid the occurrence of identical sampling points.

[0108] Step S45, if it exists, re-randomly generate multiple new first random numbers from the same multiple first random numbers, until the values ​​of the generated multiple new first random numbers are different from the values ​​of the unchanged multiple first random numbers and the values ​​of each new first random number are different;

[0109] It should be noted that if repeated values ​​are found in multiple first random numbers, new first random numbers need to be regenerated until the values ​​of all new random numbers are different from the values ​​of the unchanged random numbers, and the value of each new random number is unique.

[0110] Step S46, determining whether multiple second random numbers have the same value;

[0111] The main purpose of this step is to compare the multiple generated second random numbers to check whether there are identical values ​​and avoid the occurrence of identical sampling points.

[0112] Step S47: if it exists, re-randomly generate multiple new second random numbers from the same multiple second random numbers until the values ​​of the generated multiple new second random numbers are different from the values ​​of the multiple second random numbers that have not changed and the values ​​of each new second random number are different.

[0113] It should be noted that if repeated values ​​are found in the second random number, new second random numbers need to be regenerated until the values ​​of all new random numbers are different from the values ​​of the unchanged random numbers, and the value of each new random number is unique.

[0114] Through these steps, it can be ensured that there are no duplicate points in the generated sampling points, the randomness and representativeness of the sampling can be ensured, and the requirements of the preset number of samplings can be met.

[0115] In one possible implementation, see Figure 5 , step 50 comprises:

[0116] Step S51, the coordinate information of the plurality of sampling points, and calculating the square of the distance between each sampling point and the other sampling points;

[0117] In this step, calculating the square of the distance between each sampling point and other sampling points can be achieved by calculating the square of the Euclidean distance between the two points.

[0118] Step S52, arranging and combining the path plans between the sampling points;

[0119] In this step, a permutation and combination algorithm is used to generate all possible path combinations, which involves selecting a sampling point from multiple sampling points as the starting point, then selecting the next point from the remaining sampling points, and so on, until all sampling points are visited.

[0120] Step S53, calculating the sum of the squares of the distances of each segment in each of the path plans to determine the final value of the trajectory of each of the path plans;

[0121] In this step, it can be achieved by accumulating the squares of the distances calculated in step S51, and the final value of the trajectory refers to the sum of the squares of the distances in the corresponding path plan.

[0122] Step S54, comparing the final values ​​of each trajectory, and selecting the path plan with the smallest final value of the trajectory as the optimal plan;

[0123] Step S55: outputting the coordinate information of the sampling points in the optimal solution in sequence according to the optimal solution.

[0124] Through these steps, a minimum path combination can be found to guide the sampling equipment to complete all sampling points in the shortest path, thereby improving the efficiency and accuracy of the sampling operation.

[0125] The present application also provides a control device for the sampling system, please refer to Figure 6 , the control device of the sampling system comprises:

[0126] The information acquisition module 10 is used to obtain the position information of the carriage of the transport vehicle and the size information of the carriage;

[0127] The processing module 20 is used to establish a plane coordinate system corresponding to the surface to be planted according to the plane information; in the plane coordinate system, determine a preset coordinate range according to the size information;

[0128] The generating module 30 is used to randomly generate the coordinate information of the same number of sampling points as the preset sampling number within the preset coordinate range; and perform trajectory planning on the generated coordinates of each sampling point.

[0129] The control device of the sampling system provided in the present application adopts the control method of the sampling system in the above embodiment, which can solve the technical problem of low efficiency of the sampling process. Compared with the prior art, the beneficial effects of the control device of the sampling system provided in the present application are the same as the beneficial effects of the control method of the sampling system provided in the above embodiment, and other technical features in the control device of the sampling system are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0130] The present application provides a control method device for a sampling system, and the control method device for the sampling system includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the control method of the sampling system in the above-mentioned embodiment 1.

[0131] Reference below Figure 7 , which shows a schematic diagram of the structure of the control device of the sampling system suitable for implementing the embodiment of the present application. The control device of the sampling system in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 5The control device of the sampling system shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0132] like Figure 7 As shown, the control device of the sampling system may include a processing device 1001 (such as a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the control device of the sampling system are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 can allow the control device of the sampling system to communicate wirelessly or wired with other devices to exchange data. Although the control device of the sampling system with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0133] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0134] The control device of the sampling system provided by the present application adopts the control method of the sampling system in the above embodiment, which can solve the technical problem of low efficiency of the sampling process. Compared with the prior art, the beneficial effects of the device provided by the present application are the same as the beneficial effects of the control method of the sampling system provided by the above embodiment, and other technical features in the control device of the sampling system are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0135] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0136] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0137] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the control method of the sampling system in the above-mentioned embodiment.

[0138] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0139] The computer-readable storage medium may be included in the control device of the sampling system; or may exist independently without being assembled into the control device of the sampling system.

[0140] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the control device of the sampling system, the control device of the sampling system: obtains the position information of the carriage of the transport vehicle and the size information of the carriage; establishes a plane coordinate system corresponding to the grain surface to be sampled according to the position information; determines a preset coordinate range according to the size information in the plane coordinate system; randomly generates the coordinate information of the same number of sampling points as the preset number of samplings within the preset coordinate range; and plans the sampling trajectory for the generated coordinates of each sampling point.

[0141] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0142] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0143] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0144] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the control method of the above-mentioned sampling system, and can solve the technical problem of low efficiency of the sampling process. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the control method of the sampling system provided in the above-mentioned embodiment, and will not be repeated here.

[0145] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A control method for a sampling system, characterized in that: The control method of the sampling system comprises: Acquire location information of a carriage of a transport vehicle and size information of the carriage; Establishing a plane coordinate system corresponding to the surface to be planted according to the position information; In the plane coordinate system, determining a preset coordinate range according to the size information; Randomly generate coordinate information of sampling points of the same number as the preset number of sampling points within the preset coordinate range; The generated sampling point coordinates are used for sampling trajectory planning.

2. The control method of the sampling system according to claim 1, characterized in that: The step of obtaining the position information of the carriage of the transport vehicle and the size information of the carriage comprises: Obtaining a width extension direction of the carriage and obtaining a length extension direction of the carriage; The width dimension of the carriage and the length dimension of the carriage are obtained.

3. The control method of the sampling system according to claim 2, characterized in that: The step of establishing a plane coordinate system corresponding to the surface to be planted according to the position information comprises: The original position of the sampling actuator is taken as the coordinate origin; The length extension direction of the carriage is taken as the extension direction of the X-axis; The width extension direction of the carriage is used as the extension direction of the Y axis; The plane coordinate system is determined according to the coordinate origin, the X-axis and the Y-axis.

4. The control method of the sampling system according to claim 3, characterized in that: The step of randomly generating the coordinate information of the same number of sampling points as the preset number of sampling points within the preset coordinate range comprises: In the plane coordinate system, obtaining a minimum distance X between the Y axis and the carriage, and obtaining a minimum distance Y between the X axis and the carriage; The coordinate information (x i ,y i ); The random selection formula is: x i =X+(A / α)*m i y i =Y+(B / b)*n i In the formula, x i represents the value of the X-axis of the i-th sampling point; i represents the Y-axis value of the i-th sampling point; A represents the length of the carriage; a is the first fixed value; b is the second fixed value; B represents the width of the carriage; m i represents the first random number corresponding to the i-th sampling point; n i Represents the second random number corresponding to the i-th sampling point, 0≤n i ≤b.

5. The control method of the sampling system according to claim 4, characterized in that: In determining the coordinate information (x i ,y i ) steps before include: determining a first fixed value and a second fixed value; The first random numbers and the second random numbers, which are the same in number as the preset sampling number, are randomly generated according to the first fixed value and the second fixed value.

6. The control method of the sampling system according to claim 5, characterized in that: After the step of randomly generating the first random numbers and the second random numbers, which are the same in number as the preset sampling number, according to the first fixed value and the second fixed value, the method further includes: Determine whether a plurality of the first random numbers have the same value; If so, re-randomly generate multiple new first random numbers from the same multiple first random numbers until the values ​​of the generated multiple new first random numbers are different from the values ​​of the unchanged multiple first random numbers and the values ​​of each new first random number are different; Determine whether a plurality of the second random numbers have the same value; If so, multiple new second random numbers are randomly generated from the same multiple second random numbers until the values ​​of the generated multiple new second random numbers are different from the values ​​of the multiple second random numbers that have not changed and the values ​​of each new second random number are different.

7. The control method of the sampling system as claimed in claim 1, characterized in that: The step of planning the sampling trajectory of the generated sampling point coordinates comprises: Calculating the square of the distance between each sampling point and other sampling points according to the coordinate information of the plurality of sampling points; Arrange and combine the path plans between the sampling points; Calculating the sum of the squares of the distances of each segment in each of the path plans to determine the trajectory final value of each of the path plans; Compare the final values ​​of the trajectories, and select the path plan with the smallest final value of the trajectory as the optimal plan; The coordinate information of the sampling points in the optimal solution is output in sequence according to the optimal solution.

8. A control device for a sampling system, characterized in that: The grain sampling device comprises: An information collection module, used to obtain the position information of the carriage of the transport vehicle and the size information of the carriage; A processing module, used for establishing a plane coordinate system corresponding to the surface to be seeded according to the plane information; and determining a preset coordinate range according to the size information in the plane coordinate system; The generation module is used to randomly generate the coordinate information of the same number of sampling points as the preset sampling number within the preset coordinate range; and perform trajectory planning on the generated coordinates of each sampling point.

9. A control device for a sampling system, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the control method of the sampling system according to any one of claims 1 to 8.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the control method of the sampling system according to any one of claims 1 to 8 are implemented.

Images