Operation area detection method, device, equipment and medium

Abstract

The invention discloses an operation area detection method and device, equipment and a medium. The method comprises the following steps: acquiring a real-time operation track of the operation vehicle running in an operation area; according to the operation coverage size of the operation vehicle, the real-time operation track is expanded outwards, and an operation vector surface is generated; wherein the operation vector surface is covered with a real-time operation track; and calculating the area of the operation vector surface to obtain the operation area of the operation area. According to the embodiment of the invention, the operation area of the operation vehicle can be acquired in real time, and the accuracy of measuring the area of the operation area is improved.

Description

Technical Field

[0001] The present invention relates to the field of automation technology, and in particular, to a method, device, equipment and medium for detecting the working area. Background Art

[0002] With the continuous improvement of the level of mechanical automation, in the fields of agricultural production, construction engineering and environmental detection, accurately calculating the working area has become an important link for optimizing resource allocation, improving production efficiency and ensuring the quality of operations.

[0003] Currently, the measurement of the working area is achieved through methods such as manual measurement and coordinate method.

[0004] However, the method of manual measurement has the defects of low measurement accuracy, low work efficiency and large error when measuring complex working areas; when the measurement accuracy of the coordinate method is relatively high, it is necessary to obtain the coordinates of more boundary points of the working area, and the calculation amount is too large. Summary of the Invention

[0005] The present invention provides a method, device, equipment and medium for detecting the working area. Embodiments of the present invention can obtain the real-time working area of the working vehicle and improve the accuracy of measuring the working area.

[0006] In a first aspect, an embodiment of the present invention provides a method for detecting the working area, the method including:

[0007] Obtaining the real-time working trajectory of the working vehicle when driving and operating in the working area;

[0008] According to the working coverage size of the working vehicle, expanding the real-time working trajectory outward to generate a working vector surface; wherein, the working vector surface covers the real-time working trajectory;

[0009] Calculating the area of the working vector surface to obtain the working area of the working area.

[0010] In a second aspect, an embodiment of the present invention further provides a device for detecting the working area, the device including:

[0011] A working trajectory acquisition module, configured to obtain the real-time working trajectory of the working vehicle when driving and operating in the working area;

[0012] A vector surface generation module, configured to expand the real-time working trajectory outward according to the working coverage size of the working vehicle to generate a working vector surface; wherein, the working vector surface covers the real-time working trajectory;

[0013] A working area calculation module, configured to calculate the area of the working vector surface to obtain the working area of the working area.

[0014] In a third aspect, an embodiment of the present invention further provides a working area detection device, which includes:

[0015] at least one processor; and

[0016] a memory communicatively connected to the at least one processor; wherein,

[0017] the memory stores a computer program executable by the at least one processor, and when the computer program is executed by the at least one processor, the at least one processor is enabled to execute the working area detection method according to any embodiment of the present invention.

[0018] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, which stores computer instructions for causing a processor to implement the working area detection method according to any embodiment of the present invention when executed.

[0019] The technical solution of the embodiment of the present invention can ensure the timeliness and dynamics of the measurement of the working area by obtaining the driving trajectory of the working vehicle in real time, monitor the working progress in real time, and improve the efficiency of working management; by expanding the trajectory of the working vehicle outward to generate a working vector surface, the gap error existing in the working process of the working vehicle can be eliminated, thereby improving the measurement accuracy; by ensuring that the working vector surface completely covers the working trajectory, the area actually covered by the working vehicle can be calculated more comprehensively, reducing the omitted area; by calculating the area of the working vector surface, the working area of the working area can be obtained accurately in real time; through the above technical solutions, the working area of the working vehicle can be obtained in real time, and the accuracy of measuring the area of the working area can be improved.

[0020] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0022] Figure 1 is a flowchart of a working area detection method provided by an embodiment of the present invention;

[0023] Figure 2 is a schematic diagram of generating a working vector surface provided by an embodiment of the present invention;

[0024] Figure 3 Flow chart of a working area detection method provided by an embodiment of the present invention;

[0025] Figure 4 Schematic diagram of a grid provided by an embodiment of the present invention;

[0026] Figure 5 Schematic diagram of a sub-vector surface provided by an embodiment of the present invention;

[0027] Figure 6 Schematic diagram of mapping a working vector surface to a grid provided by an embodiment of the present invention;

[0028] Figure 7 Schematic diagram of the structure of a working area detection device provided by an embodiment of the present invention;

[0029] Figure 8 Schematic diagram of the structure of a working area detection device provided by an embodiment of the present invention. Detailed implementation manners

[0030] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0031] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0032] In the technical solution of the embodiment of the present invention, the acquisition, storage, and application of the working vehicle working trajectory, working vehicle positioning data, etc. all comply with the provisions of relevant laws and regulations and do not violate public order and good customs.

[0033] Figure 1The flowchart of a method for detecting the working area provided by an embodiment of the present invention. The embodiment of the present invention is applicable to the situation of working area detection. This method can be executed by a working area detection device, and the working area detection device can be implemented in the form of hardware and / or software.

[0034] See Figure 1 The working area detection method shown in the figure includes:

[0035] S101. Obtain the real-time working trajectory of the working vehicle when driving and working in the working area.

[0036] Among them, the working vehicle may refer to a mechanical device or vehicle that performs various working tasks in fields such as agriculture, construction, environmental protection, and forestry. The working vehicle may include a tiller, a harvester, a fertilizer applicator, a seeder, an excavator, a bulldozer, a roller, a sprinkler, etc. Different working vehicles can be selected according to different working scenarios and working types. For example, when harvesting crops in a farmland, the working vehicle can be a harvester; when spraying water on a road, the working vehicle can be a sprinkler.

[0037] Among them, the working area may refer to the entire spatial area where the working vehicle performs working tasks. The working area has boundaries, and the boundaries of the working area are fixed and unchanged. The working vehicle can drive and work within the working area. Exemplarily, the working area can be a farmland area with boundaries; the working area can also be a construction area with boundaries; the working area can also be a forest area with boundaries.

[0038] Among them, the real-time working trajectory may refer to the movement path of the working vehicle during the real-time working process. The real-time working trajectory can be obtained by real-time monitoring of the trajectory of the working vehicle. The longitude and latitude coordinates of the working vehicle can be obtained through a positioning device installed on the symmetry axis of the working vehicle. The real-time working trajectory reflects the driving route and working process of the working vehicle within the working area. Exemplarily, from the previous moment to the current moment, when the working vehicle moves from point A to point B, connect point A and point B, and the line segment AB is the real-time working trajectory of the working vehicle.

[0039] In a specific example, the longitude and latitude coordinates of the working vehicle need to be obtained every XX milliseconds. The longitude and latitude coordinates of the working vehicle are obtained through a positioning device installed on the working vehicle. The conversion of the longitude and latitude coordinates of the working vehicle into two-dimensional coordinates in the Gauss projection coordinate system can be achieved through the following methods:

[0040] 1) Let the longitude of the longitude and latitude coordinates of the working vehicle at the current moment be λ, and the latitude be φ.

[0041] 2) The earth can be regarded as an ellipsoid. The semi-major axis of the earth is a, the flattening is f, and the central meridian is λ 0 .

[0042] 3) The calculation formula for the two-dimensional coordinates of the work vehicle in the Gauss projection coordinate system at the current moment is as follows:

[0043] x = N(φ)·(λ - λ 0 )·cos(φ)

[0044]

[0045] In the formula, x represents the x-axis coordinate of the two-dimensional coordinate; y represents the y-axis coordinate of the two-dimensional coordinate; φ 0 represents the origin latitude of the projection zone; N(φ) is the radius of curvature at the latitude φ, and the calculation formula for the radius of curvature is as follows:

[0046]

[0047] In the formula, e represents the eccentricity of the earth, and the calculation formula for the eccentricity is as follows:

[0048]

[0049] S102. Expand the real-time operation trajectory outward according to the operation coverage size of the work vehicle to generate an operation vector surface; wherein, the operation vector surface covers the real-time operation trajectory.

[0050] Among them, the operation coverage size may refer to the size of the area covered by the work vehicle during operation. The operation coverage size is determined by the physical size of the working device on the work vehicle. The working device may include devices such as the cutter bar of a harvester, the sprinkler nozzle of a sprinkler truck, and the roller of a road roller. Defining the operation coverage size can determine the area size covered by the work vehicle each time it moves, thus providing a basis for calculating the operation area. Exemplarily, when performing earthmoving operations, the operation coverage size may be the width of the bulldozer bucket; when performing spraying operations, the operation coverage size may be the size of the area that the sprinkler truck can spray.

[0051] Among them, expansion may refer to the process of vertically extending the real-time operation trajectory outward according to the operation coverage size. Since the real-time operation trajectory obtains the operation trajectory of a certain point in the axis of symmetry of the work vehicle, therefore, by expanding the real-time operation trajectory by half of the width of the operation coverage size to both sides, the actual operation coverage area of the work vehicle can be obtained. By expanding the real-time operation trajectory, the area actually covered by the work vehicle can be calculated more accurately. Avoiding calculating only according to the real-time operation trajectory and ignoring the width of the operation tool, the expanded area can better reflect the actual operation range of the work vehicle. Exemplarily, when the operation coverage size of the work vehicle is 3 meters wide and the real-time operation trajectory of the work vehicle is a 2-meter-long line segment, expand the operation trajectory by 1.5 meters to both sides to form a new operation area, and the area of this operation area is 6 square meters.

[0052] Among them, the operation vector plane may refer to a plane area formed by expanding the real-time operation trajectory. The operation vector plane may represent the coverage area of the actual operation of the operation vehicle.

[0053] In a specific example, Figure 2 It is a schematic diagram of generating an operation vector plane provided by an embodiment of the present invention. Among them, the black line segment represents the real-time operation trajectory, the arrows on both sides of the black line segment represent the operation of expanding the real-time operation trajectory to both sides according to the coverage size of the operation vehicle, and the black dotted line frame represents the operation vector plane.

[0054] In a specific example, the process of generating the operation vector plane can be implemented in the following manner:

[0055] 1) Assume that the starting point of the line segment is (x 1 , y 1 ), the ending point is (x 2 , y 2 ), and the working width is w. The formula for calculating the direction vector of the line segment is as follows:

[0056] d x = x 2 - x 1 , d y = y 2 - y 1

[0057] In the formula, d x and d y represent the direction vectors of the line segment in the x-axis and y-axis directions.

[0058] The formula for calculating the unit normal vector is as follows:

[0059]

[0060] In the formula, n x and n y represent the x-axis and y-axis components of the unit vector.

[0061] 2) According to the unit normal vector, generate the vertex coordinates of the offset operation vector plane:

[0062] The coordinate calculation formula for the upper offset point is as follows:

[0063]

[0064] The coordinate calculation formula for the lower offset point is as follows:

[0065]

[0066] 3) Connect the above four points to generate the operation vector plane.

[0067] S103. Calculate the area of the operation vector surface to obtain the operation area of the operation region.

[0068] Among them, the operation area may refer to expanding the real-time operation trajectory through the operation coverage size of the operation vehicle to generate an operation vector surface covering the entire operation region. The calculation of the operation area of the operation region is converted into the calculation of the area of the operation vector surface.

[0069] It can be seen that in the embodiments of the present application, by obtaining the driving trajectory of the operation vehicle in real time, the timeliness and dynamics of the measurement of the operation area can be ensured, the operation progress can be monitored in real time, and the efficiency of operation management can be improved; by expanding the operation vehicle trajectory outwards to generate an operation vector surface, the gap error existing in the working process of the operation vehicle can be eliminated, thereby improving the measurement accuracy; by ensuring that the operation vector surface completely covers the operation trajectory, the area actually covered by the operation vehicle can be calculated more comprehensively, reducing the omitted area; by calculating the area of the operation vector surface, the operation area of the operation region can be obtained accurately in real time; through the above technical solutions, the operation area of the operation vehicle can be obtained in real time, and the accuracy of measuring the area of the operation region can be improved on the premise of reducing the calculation amount.

[0070] In an alternative embodiment, the step of "expanding the real-time operation trajectory outwards according to the operation coverage size of the operation vehicle to generate an operation vector surface" is refined to "expanding in all directions at the starting point and the ending point of the real-time operation trajectory and expanding in the vertical direction at other trajectory points of the real-time operation trajectory according to the operation coverage size of the operation vehicle" to improve the operation of detecting the operation area.

[0071] It should be noted that for the parts not detailed in the embodiments of the present invention, reference can be made to the descriptions of other embodiments. Figure 3 This is a flowchart of a method for detecting an operation area provided by an embodiment of the present invention.

[0072] See Figure 3 The operation area detection method shown includes:

[0073] S301. Obtain the real-time operation trajectory of the operation vehicle driving and operating in the operation region.

[0074] S302. Expand in the vertical direction at the starting point and the ending point of the real-time operation trajectory and expand in the vertical direction at other trajectory points of the real-time operation trajectory according to the operation coverage size of the operation vehicle to generate an operation vector surface; wherein, the operation vector surface covers the real-time operation trajectory.

[0075] Specifically, at the starting point and the ending point of the real-time operation trajectory, it extends in the vertical direction, and the extension distance is half of the operation coverage size. The starting point and the ending point serve as the boundaries of the real-time operation trajectory. Other trajectory points can refer to the various trajectory points between the starting point and the ending point, and the extension distance of other trajectory points is also half of the operation coverage size. That is, each trajectory point on the real-time operation trajectory extends to both sides along the vertical direction respectively, and an operation vector surface can be generated.

[0076] S303. Calculate the area of the operation vector surface to obtain the operation area of the operation region.

[0077] It can be seen that in this embodiment, by extending in the vertical direction at the starting point and the ending point of the operation trajectory, the complete coverage of the operation region can be ensured. The starting point and the ending point serve as the boundaries of the operation trajectory. Extending the real-time operation trajectory can avoid missing the operation region, thereby improving the accuracy and integrity of area calculation; by extending in the vertical direction at other points of the operation trajectory, the actual operation region of the operation vehicle can be more accurately reflected, and the actual operation range of the operation vehicle on the path can be more finely simulated, thereby improving the calculation accuracy of the operation area.

[0078] In some embodiments, after generating the operation vector surface, it further includes:

[0079] Correct the void region in the operation vector surface.

[0080] Among them, the void region can refer to the part of the working area that is not covered due to the operation vector surface generated after the extension of the operation trajectory not completely covering the operation region during the operation of the operation vehicle. Since the operation vector surface of the operation vehicle does not completely cover the entire operation region, there will be a void region in the operation region; or the operation coverage size of the operation vehicle does not adapt to some overly wide or narrow operation regions, which will result in a void region in the operation region. In some special scenarios, such as there are some pits in the working area and the operation vehicle cannot operate in the pit part, when calculating the operation area of the operation region, the area of the pit part can be removed, and the area of the pit part can be obtained by manual measurement.

[0081] Among them, correction can refer to the operation of supplementing the void region. The void region generated in the operation region due to the operation vector surface not completely covering the operation region is filled by an algorithm, so that the entire operation region is completely covered. For example, the operation trajectory can be continued to extend near the void region to fill the void region.

[0082] It can be seen that in this embodiment, by correcting the void region in the operation vector surface, the omission caused by the operation trajectory not completely covering the operation region can be eliminated; by correcting the void region, the accuracy of measuring the area of the operation region can be improved.

[0083] In some embodiments, correcting the void area in the operation vector plane includes:

[0084] Performing an expansion and contraction process on the boundary of the operation vector plane to obtain a new vector plane;

[0085] When the new vector plane does not include the void area, updating the void area according to the new vector plane.

[0086] Specifically, performing an expansion and contraction process on the boundary of the operation vector plane may refer to expanding each boundary of the operation vector plane by a certain distance. If a boundary of the operation vector plane overlaps with a boundary of another operation vector plane, then the boundary of the operation vector plane and the boundary of the other operation vector plane are not contracted; if there is no overlap after expanding the boundary of the operation vector plane and the boundary of the other operation vector plane, then the boundary of the operation vector plane and the boundary of the other operation vector plane are contracted back to the original boundary position.

[0087] Among them, the new vector plane may refer to the vector plane obtained by expanding and contracting the operation vector plane with a circle. Among them, updating may refer to the operation of filling the void area.

[0088] Among them, when the new vector plane does not include the void area, it means that there is an overlap after expanding the boundary of the operation vector plane and the boundary of the other operation vector plane. The existence of an overlap may indicate that the void area is caused by the fact that the real-time operation trajectory of the operation vehicle does not completely cover the operation area. Therefore, the void area is updated and filled. The processed vector plane will no longer contain void areas smaller than half of the operation coverage size, ensuring that the overall area calculation is suitable for the actual operation situation.

[0089] In a specific example, when performing expansion and contraction on the operation vector plane, obtaining the vertex coordinates of expansion and contraction can be achieved through the following steps:

[0090] 1) Assume that the vertices of the current vector plane are (x i , y i )(i = 1, 2,..., n), and the working width is w. Calculate the vertex coordinates after expansion:

[0091]

[0092] 2) Calculate the vertex coordinates after contraction:

[0093]

[0094] It can be seen that in this embodiment, by performing expansion and contraction processing on the boundary of the operation vector surface, the shape of the vector surface can be effectively adjusted to more precisely cover or adapt to the actual requirements of the operation area, which helps to reduce errors caused by inappropriate boundaries and ensure the accuracy of the operation range. By updating the void area according to the new vector surface, it can ensure that the void area is properly filled or adjusted, avoid omissions in the operation range, help to improve the consistency and integrity of the operation surface, thereby reducing the possibility of omission or overlap, and enhancing the accuracy and reliability of the operation area measurement.

[0095] In some embodiments, calculating the area of the operation vector surface to obtain the operation area of the operation region includes:

[0096] Establish a grid in the operation region;

[0097] Map the operation vector surface into the grid to obtain sub-vector surfaces of each grid;

[0098] For each grid, calculate the area of the sub-vector surface of the grid;

[0099] Statistically calculate the areas of the sub-vector surfaces of each grid to obtain the operation area of the operation region.

[0100] Among them, the grid may refer to dividing the operation region into several regularly shaped units. Each unit may refer to a grid. The grid size is adjusted according to the accuracy required to measure the operation area. The more accurate the operation area to be measured, the smaller the grid size. Conversely, the less accurate the operation area to be measured, the larger the grid size. The grid can be a regular square. By establishing a grid, a complex operation region can be simplified into several units that are easier to process, and the operation vector surface within each grid can be calculated separately, thereby improving the efficiency and accuracy of calculating the operation area.

[0101] In a specific example, the established grid area is as Figure 4 shown. Each square in the figure represents each grid, where point A represents the position point of the operation vehicle. Point A can also be the initial position point of the operation vehicle. The grid can be established when the operation vehicle starts operating in the operation region.

[0102] Among them, mapping may refer to projecting the operation vector surface onto the established grid.

[0103] Among them, the sub-vector surface may refer to the part of the operation vector surface within a grid area. The operation vector surface is divided into smaller parts by the grid, and each part is the sub-vector surface. A schematic diagram of the sub-vector surface is as Figure 5 described. G1, G2, G3, and G4 respectively represent four grids, where M1, M2, M3, and M4 respectively represent four sub-vector surfaces.

[0104] In a specific example, Figure 6 This is a schematic diagram of mapping the operation vector surface into a grid to obtain the sub-vector surfaces of each grid provided by the embodiment of the present invention. The blue shaded area represents the operation vector surface obtained after the operation vehicle completes all operations in the operation area. The hollow part represents the void area, and the blue shade within the red square represents the sub-vector surface.

[0105] Among them, for each grid, calculating the area of the sub-vector surface of the grid may refer to calculating the areas of the individual sub-vector surfaces within the grid respectively. Exemplarily, when the operation vehicle is operating, each time the operation vehicle moves to a new position, a new operation vector surface will be generated. When the sub-vector surface of this operation vector surface appears within a certain grid, only the area of the sub-vector surface within the updated grid is calculated, thereby improving the calculation efficiency of the operation area.

[0106] Among them, statistically calculating the areas of the sub-vector surfaces of each grid to obtain the operation area of the operation area may refer to statistically calculating the sub-vector surfaces within each grid and then combining the areas of the sub-vector surfaces within all grids to obtain the current real-time operation area.

[0107] In a specific example, for each segmented sub-vector surface, a union calculation is performed with the sub-vector surface already existing in the corresponding grid. Let the newly segmented vector surface be S, and the surface already existing in the corresponding grid be M. The union calculation is U = S ∪ M; a new surface U is formed, and its vertex and boundary information are recorded; the surface in the grid is updated, and the relevant data of the newly generated surface are saved, including the area and boundary coordinates. Among them, the calculation formula for the sub-vector surface is as follows:

[0108]

[0109] In the formula, (x n+1 , y n+1 ), (x 1 , y 1 ) represent the vertex coordinates of the (n + 1)-th and the first sub-vector surface vertices, and (x n+1 , y n+1 ) = (x 1 , y 1 ) can ensure that the sub-vector surface is in a closed state.

[0110] Among them, the merging formula for merging the areas of the sub-vector surfaces within all grids is as follows:

[0111]

[0112] In the formula, A total represents the total area of all grids; A i represents the area of the i-th grid; m represents the total number of grids.

[0113] It can be seen that in this embodiment, by establishing a grid in the operation area, a complex area can be divided into multiple small units, thereby achieving more accurate area analysis and processing; by mapping the operation vector surface to the grid, a corresponding sub-vector surface can be assigned to each grid, making the spatial division of the entire operation area clearer; by calculating the area of the sub-vector surface within each grid, it is possible to ensure a detailed area calculation of the operation area and avoid inaccuracies caused by large-scale estimation; by statistically analyzing the areas of the sub-vector surfaces of each grid, the areas of each grid can be summed up to obtain the total area of the entire operation area.

[0114] In some embodiments, for each grid, calculating the area of the sub-vector surface of the grid includes:

[0115] For each grid, obtaining multiple intersection points of the sub-vector surface and the grid;

[0116] Calculating the area of the sub-vector surface of the grid according to each intersection point.

[0117] Specifically, for each grid, obtaining the intersection points of each sub-vector surface and the grid, and according to the intersection point coordinates of the sub-vector surface and the vertex coordinates of the sub-vector surface, the area of each sub-vector surface within the grid can be calculated.

[0118] In a specific example, according to the initially established grid, the operation vector surface is divided into several sub-vector surfaces, and calculating the area of the sub-vector surface can be achieved through the following steps:

[0119] 1) Determine the grid area, and determine the grid area where each sub-vector surface is located to ensure the correct correspondence with the grid.

[0120] 2) Determine whether the generated vector surface overlaps with the grid area.

[0121] 3) For each sub-vector surface, calculate the intersection points with the grid boundary. Let the vertices of the sub-vector surface be (x i , y i ) (i = 1, 2,..., n), and the endpoints of the grid boundary be A(x a , y a ) and B(x b , y b ).

[0122] Calculate the intersection points with the boundary line segment through the straight-line equation:

[0123] (x, y) = (x a + t · (x b - x a ), y a + t · (y b - ya ))

[0124] where t is the parameter of the line segment, satisfying 0 ≤ t ≤ 1.

[0125] 4) Generate sub-vector surfaces: Generate small vector surfaces based on the intersection points and the original vertices, and record the boundary intersection point coordinates of each sub-vector surface.

[0126] 5) The area of the sub-vector surface can be calculated through the boundary intersection point coordinates.

[0127] It can be seen that in this embodiment, by obtaining multiple intersection points of the sub-vector surface and the grid, the boundary of the sub-vector surface within each grid can be accurately determined; by calculating the area of the sub-vector surface of the grid based on the intersection points, the actual area of the sub-vector surface in each grid can be accurately obtained.

[0128] In some embodiments, obtaining the real-time operation trajectory of the work vehicle during operation in the operation area includes:

[0129] During the continuous operation of the work vehicle on the same road section in the operation area, obtain the real-time coordinates provided by the positioning antenna of the work vehicle, and the positioning antenna is located on the symmetry axis of the work vehicle;

[0130] Connect the real-time coordinates to form the real-time operation line segment of the work vehicle;

[0131] Connect at least one real-time operation line segment traveled by the work vehicle in the operation area to obtain the real-time operation trajectory of the work vehicle.

[0132] Among them, to obtain the real-time coordinates provided by the positioning antenna of the work vehicle, the real-time coordinates of the work vehicle can be obtained according to the positioning antenna of the work vehicle every 100 milliseconds, and the real-time coordinates can refer to the real-time longitude and latitude coordinates.

[0133] Among them, since the positioning antenna is located on the symmetry axis, the real-time operation trajectory can be extended outward according to the operation coverage size of the work vehicle. When extending, both sides can be extended by half of the length of the operation coverage size at the same time, which can avoid errors caused by the deviation of the antenna position from the center of the vehicle body during the extension of the real-time operation trajectory.

[0134] Among them, the real-time operation line segment can refer to connecting the real-time coordinates in chronological order to form the driving path of the work vehicle. By connecting the real-time coordinates into line segments, a continuous driving path of the work vehicle during operation is formed.

[0135] Among them, by connecting multiple real-time operation line segments into a whole trajectory, the real-time operation trajectory of the work vehicle in the operation area is finally obtained. The real-time operation trajectory is the trajectory line traveled by the work vehicle during the entire operation process, reflecting the real-time working route of the work vehicle.

[0136] It can be seen that in this embodiment, by obtaining the real-time coordinates during the driving of the work vehicle, the real-time monitoring of the position of the work vehicle in the work area can be realized; the positioning antenna is located on the symmetry axis of the work vehicle, which can ensure to avoid the error caused by the deviation of the antenna position from the center of the vehicle body when the real-time operation trajectory expands; by connecting the real-time coordinates obtained at each moment, the driving trajectory segments of the work vehicle in each time period can be formed; by connecting multiple real-time operation segments, the complete real-time operation trajectory of the work vehicle in the work area can be formed.

[0137] Figure 7 A schematic structural diagram of a work area detection device provided by an embodiment of the present invention. The embodiment of the present invention is applicable to the situation of work area detection. The device can execute the work area detection method, and the device can be implemented in the form of hardware and / or software.

[0138] See Figure 7 the work area detection device shown in the figure, including: an operation trajectory acquisition module 701, a vector surface generation module 702, and an operation area calculation module 703, where

[0139] The operation trajectory acquisition module 701 is used to acquire the real-time operation trajectory of the work vehicle driving and operating in the work area;

[0140] The vector surface generation module 702 is used to expand the real-time operation trajectory outward according to the operation coverage size of the work vehicle to generate an operation vector surface; wherein, the operation vector surface covers the real-time operation trajectory;

[0141] The operation area calculation module 703 is used to calculate the area of the operation vector surface to obtain the operation area of the work area.

[0142] The technical solution of the embodiment of the present invention can ensure the timeliness and dynamics of the measurement of the work area by obtaining the driving trajectory of the work vehicle in real time, monitor the operation progress in real time, and improve the efficiency of operation management; by expanding the work vehicle trajectory outward to generate an operation vector surface, the gap error existing in the work process of the work vehicle can be eliminated, thereby improving the measurement accuracy; by ensuring that the operation vector surface completely covers the operation trajectory, the area actually covered by the work vehicle can be calculated more comprehensively, reducing the missing area; by calculating the area of the operation vector surface, the operation area of the work area can be obtained in real time and accurately; through the above technical solutions, the operation area of the work vehicle can be obtained in real time, and the accuracy of measuring the area of the operation area can be improved on the premise of reducing the calculation amount.

[0143] In some embodiments, in terms of expanding the real-time operation trajectory outward according to the operation coverage size of the work vehicle to generate an operation vector surface, the vector surface generation module 702 is specifically used for:

[0144] According to the operation coverage size of the work vehicle, expand in the vertical direction at the starting point and the ending point of the real-time operation trajectory, and also expand in the vertical direction at other trajectory points of the real-time operation trajectory to generate an operation vector surface.

[0145] In some embodiments, after generating the operation vector surface, the vector surface generation module 702 is specifically configured to:

[0146] Correct the void area in the operation vector surface.

[0147] In some embodiments, when correcting the void area in the operation vector surface, the vector surface generation module 702 is specifically configured to:

[0148] Perform an expansion and contraction process on the boundary of the operation vector surface to obtain a new vector surface;

[0149] When the new vector surface does not include a void area, update the void area according to the new vector surface.

[0150] In some embodiments, when calculating the area of the operation vector surface to obtain the operation area of the operation region, the operation area calculation module 703 is specifically configured to:

[0151] Establish a grid in the operation region;

[0152] Map the operation vector surface into the grid to obtain sub-vector surfaces of each grid;

[0153] For each grid, calculate the area of the sub-vector surface of the grid;

[0154] Statistically calculate the areas of the sub-vector surfaces of each grid to obtain the operation area of the operation region.

[0155] In some embodiments, when calculating the area of the sub-vector surface of each grid for each grid, the operation area calculation module 703 is specifically configured to:

[0156] For each grid, obtain multiple intersection points of the sub-vector surface and the grid;

[0157] According to each intersection point, calculate the area of the sub-vector surface of the grid.

[0158] In some embodiments, when obtaining the real-time operation trajectory of the work vehicle driving and operating in the operation region, the operation trajectory acquisition module 701 is specifically configured to:

[0159] During the process of the work vehicle continuously driving and operating on the same road section in the operation region, obtain the real-time coordinates provided by the positioning antenna of the work vehicle, and the positioning antenna is located on the axis of symmetry of the work vehicle;

[0160] Connect the real-time coordinates to form a real-time operation line segment of the work vehicle;

[0161] Connect at least one real-time operation segment along which a work vehicle travels in an operation area to obtain a real-time operation trajectory of the work vehicle.

[0162] The operation area detection device provided by the embodiments of the present invention can execute the operation area detection method provided by any embodiment of the present invention, and has function modules and beneficial effects corresponding to the execution of the operation area detection method.

[0163] Figure 8 It is a schematic structural diagram of an operation area detection device provided by an embodiment of the present invention.

[0164] As Figure 8 shown, the operation area detection device 800 includes at least one processor 801 and a memory communicatively connected to the at least one processor 801, such as a read-only memory (ROM) 802, a random access memory (RAM) 803, etc. Among them, the memory stores a computer program executable by the at least one processor. The processor 801 can execute various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 802 or the computer program loaded from the storage unit 808 into the random access memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the operation area detection device 800 can also be stored. The processor 801, the ROM 802, and the RAM 803 are connected to each other through a bus 804. The input / output (I / O) interface 808 is also connected to the bus 804.

[0165] Multiple components in the operation area detection device 800 are connected to the I / O interface 805, including: an input unit 806, such as a keyboard, a mouse, etc.; an output unit 807, such as various types of displays, speakers, etc.; a storage unit 808, such as a magnetic disk, an optical disc, etc.; and a communication unit 809, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 809 allows the operation area detection device 800 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0166] The processor 801 can be various general and / or special processing components with processing and computing capabilities. Some examples of the processor 801 include but are not limited to a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 801 executes the various methods and processes described above, such as the operation area detection method.

[0167] In some embodiments, the job area detection method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 808. In some embodiments, part or all of the computer program may be loaded and / or installed onto the job area detection device 800 via ROM 802 and / or communication unit 809. When the computer program is loaded into RAM 803 and executed by the processor 801, one or more steps of the job area detection method described above may be performed. Alternatively, in other embodiments, the processor 801 may be configured to execute the job area detection method by any other suitable means (e.g., by means of firmware).

[0168] The various implementations of the systems and techniques described above in this document may be implemented in digital electronic circuitry, integrated circuit systems, field-programmable gate arrays (FPGA), application specific integrated circuits (ASIC), application specific standard products (ASSP), systems-on-chip (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various implementations may include: implemented in one or more computer programs that may be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a special-purpose or general-purpose programmable processor that receives data and instructions from a storage system, at least one input device, and at least one output device, and transmits the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0169] The computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer programs may be executed entirely on the machine, partially on the machine, as a stand-alone software package partially on the machine and partially on a remote machine, or entirely on the remote machine or server.

[0170] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0171] In order to provide interaction with a user, the systems and techniques described herein can be implemented on an operation detection device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the operation detection device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0172] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0173] A computing system may include a client and a server. The client and the server are generally far from each other and usually interact via a communication network. The relationship between the client and the server is created by computer programs running on respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, and solves the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS (Virtual Private Server) services.

[0174] It should be understood that various forms of processes shown above can be used, steps can be reordered, added or deleted. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is made herein.

[0175] The above specific embodiments do not constitute a limitation to the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for detecting a working area, characterized in that: The method comprises: Obtain the real-time operation trajectory of the operation vehicle in the operation area; According to the operation coverage size of the operation vehicle, the real-time operation track is expanded outward to generate an operation vector surface; wherein the operation vector surface is covered with the real-time operation track; The area of ​​the operation vector surface is calculated to obtain the operation area of ​​the operation region.

2. The method according to claim 1, characterized in that: The step of expanding the real-time operation track outward according to the operation coverage size of the operation vehicle to generate an operation vector surface includes: According to the operation coverage size of the operation vehicle, the operation vector surface is generated by expanding in a vertical direction at the starting point and the end point of the real-time operation trajectory, and expanding in a vertical direction at other track points of the real-time operation trajectory.

3. The method according to claim 1, characterized in that After the job vector surface is generated, it also includes: Correct the gap area in the operation vector plane.

4. The method according to claim 3, characterized in that The correcting of the gap area in the operation vector plane includes: Expanding and shrinking the boundary of the operation vector surface to obtain a new vector surface; When the new vector surface does not include the gap area, the gap area is updated according to the new vector surface.

5. The method according to claim 1, characterized in that: The calculating the area of ​​the operation vector surface to obtain the operation area of ​​the operation region includes: Establishing a grid in the working area; Mapping the operation vector surface to a grid to obtain a sub-vector surface of each grid; For each of the grids, calculating the area of ​​the sub-vector surface of the grid; The areas of the sub-vector surfaces of each of the grids are counted to obtain the operating area of ​​the operating area.

6. The method according to claim 5, characterized in that The step of calculating the area of ​​the sub-vector surface of each grid comprises: For each of the grids, obtaining a plurality of intersection points between the sub-vector plane and the grid; The area of ​​the sub-vector surface of the grid is calculated according to each of the intersection points.

7. The method according to claim 1, characterized in that The step of obtaining the real-time operation track of the operation vehicle in the operation area includes: During the continuous driving operation of the working vehicle on the same road section in the working area, real-time coordinates provided by a positioning antenna of the working vehicle are obtained, wherein the positioning antenna is located on the symmetry axis of the working vehicle; Connecting the real-time coordinates to form a real-time operation line segment of the operation vehicle; At least one of the real-time operation line segments on which the operation vehicle travels in the operation area is connected to obtain a real-time operation track of the operation vehicle.

8. A working area detection device, characterized in that: include: The operation track acquisition module is used to obtain the real-time operation track of the operation vehicle in the operation area; A vector surface generation module, used to expand the real-time operation track outward according to the operation coverage size of the operation vehicle to generate an operation vector surface; wherein the operation vector surface is covered with the real-time operation track; The operation area calculation module is used to calculate the area of ​​the operation vector surface to obtain the operation area of ​​the operation area.

9. A working area detection device, characterized in that: The working area detection device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the working area detection method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the working area detection method according to any one of claims 1 to 7 when executed.

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