A method, apparatus, equipment and medium for detecting working area

Abstract

This invention discloses a method, apparatus, device, and medium for detecting the working area. The method includes: acquiring the real-time working trajectory of a work vehicle operating within a working area; expanding the real-time working trajectory outward based on the working coverage size of the work vehicle to generate a working vector surface; wherein the working vector surface covers the real-time working trajectory; and calculating the area of ​​the working vector surface to obtain the working area of ​​the working area. This invention can acquire the working area of ​​the work vehicle in real time, improving the accuracy of measuring the working area.

Description

Technical Field

[0001] This invention relates to the field of automation technology, and in particular to a method, apparatus, equipment and medium for detecting working area. Background Technology

[0002] With the continuous improvement of mechanical automation, accurate calculation of the working area has become an important link in optimizing resource allocation, improving production efficiency, and ensuring work quality in fields such as agricultural production, construction engineering, and environmental monitoring.

[0003] Currently, the area of ​​work is measured using methods such as manual measurement and coordinate methods.

[0004] However, manual measurement methods suffer from low accuracy, low efficiency, and large errors when measuring complex work areas; coordinate methods, when achieving high measurement accuracy, require obtaining the coordinates of many boundary points of the work area, resulting in excessive computation. Summary of the Invention

[0005] This invention provides a method, apparatus, equipment, and medium for detecting the working area. The embodiments of this invention can obtain the real-time working area of ​​the work vehicle, thereby improving the accuracy of measuring the working area.

[0006] In a first aspect, embodiments of the present invention provide a method for detecting working area, the method comprising:

[0007] Acquire the real-time operation trajectory of the work vehicle as it travels within the work area;

[0008] Based on the operating coverage size of the work vehicle, the real-time operating trajectory is extended outward to generate an operating vector surface; wherein, the operating vector surface covers the real-time operating trajectory;

[0009] Calculate the area of ​​the working vector surface to obtain the working area of ​​the working region.

[0010] Secondly, embodiments of the present invention also provide a working area detection device, the device comprising:

[0011] The operation trajectory acquisition module is used to acquire the real-time operation trajectory of the operation vehicle as it travels and operates within the operation area;

[0012] The vector surface generation module is used to expand the real-time operation trajectory outward based on 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;

[0013] The work area calculation module is used to calculate the area of ​​the work vector surface to obtain the work area of ​​the work zone.

[0014] Thirdly, embodiments of the present invention also provide a work area detection device, the work area detection device comprising:

[0015] At least one processor; and

[0016] A memory that is communicatively connected to at least one processor; wherein,

[0017] The memory stores a computer program that can be executed by at least one processor, such that the at least one processor is able to perform the working area detection method of any embodiment of the present invention.

[0018] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing computer instructions, which are used to cause a processor to execute the working area detection method of any embodiment of the present invention.

[0019] The technical solution of this invention, by acquiring the driving trajectory of the work vehicle in real time, ensures the timeliness and dynamism of the measurement of the working area, monitors the work progress in real time, and improves the efficiency of work management; by expanding the work vehicle trajectory outward to generate a working vector surface, gap errors existing in the work vehicle's operation can be eliminated, thereby improving the accuracy of measurement; by ensuring that the working vector surface completely covers the working trajectory, the area actually covered by the work vehicle can be calculated more comprehensively, reducing missed areas; by calculating the area of ​​the working vector surface, the working area of ​​the work area can be obtained accurately in real time; through the above technical solution, the working area of ​​the work vehicle can be obtained in real time, improving the accuracy of measuring the area of ​​the working area.

[0020] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

[0023] Figure 2 A schematic diagram illustrating the generation of a job vector surface provided in an embodiment of the present invention;

[0024] Figure 3 A flowchart of a working area detection method provided in an embodiment of the present invention;

[0025] Figure 4 A schematic diagram of a grid provided for an embodiment of the present invention;

[0026] Figure 5 A schematic diagram of a sub-vector surface provided in an embodiment of the present invention;

[0027] Figure 6 This is a schematic diagram illustrating how a working vector surface is mapped to a mesh, as provided in an embodiment of the present invention.

[0028] Figure 7 This is a schematic diagram of the structure of a working area detection device provided in an embodiment of the present invention;

[0029] Figure 8 This is a schematic diagram of the structure of a working area detection device provided in an embodiment of the present invention. Detailed Implementation

[0030] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention 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 where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0032] In the technical solutions of this invention, the acquisition, storage, and application of the work vehicle's work trajectory and positioning data all comply with relevant laws and regulations and do not violate public order and good morals.

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

[0034] See Figure 1 The method for detecting the work area shown includes:

[0035] S101. Obtain the real-time operation trajectory of the work vehicle as it travels and operates within the work area.

[0036] In this context, "operational vehicles" refers to machinery or vehicles used to perform various operational tasks in fields such as agriculture, construction, environmental protection, and forestry. Operational vehicles can include tillers, harvesters, fertilizer applicators, seeders, excavators, bulldozers, road rollers, and water trucks, among others. Different operational vehicles can be selected based on different operational scenarios and types. For example, when harvesting crops in farmland, an operational vehicle can be a harvester; when spraying water on roads, an operational vehicle can be a water truck.

[0037] The work area can refer to the entire spatial area where the work vehicle performs its tasks. The work area has fixed boundaries, and the work vehicle can operate within these boundaries. For example, the work area can be a bounded farmland area; a bounded construction area; or a bounded woodland area.

[0038] The real-time operation trajectory refers to the movement path of the work vehicle during real-time operation. This trajectory can be obtained by real-time monitoring of the work vehicle's path, specifically by acquiring the vehicle's latitude and longitude coordinates using a positioning device installed on the vehicle's axis of symmetry. The real-time operation trajectory reflects the work vehicle's travel route and operational progress within the work area. For example, from the previous moment to the current moment, when the work vehicle moves from point A to point B, connecting points A and B forms line segment AB, which represents the vehicle's real-time operation trajectory.

[0039] In a specific example, the latitude and longitude coordinates of the work vehicle need to be obtained every XX milliseconds. This is achieved by using a positioning device installed on the work vehicle to obtain these coordinates. Converting these coordinates to two-dimensional coordinates in a Gaussian projected coordinate system can be accomplished in the following way:

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

[0041] 2) The Earth can be considered as an ellipsoid with a semi-major axis of a, an oblateness of f, and a central meridian of λ0.

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

[0043] x = N(φ)·(λ-λ0)·cos(φ)

[0044]

[0045] In the formula, x represents the x-axis coordinate of the two-dimensional coordinate system; y represents the y-axis coordinate of the two-dimensional coordinate system; φ0 represents the latitude of the origin of the projection zone; N(φ) is the radius of curvature at latitude φ, and the formula for calculating the radius of curvature is as follows:

[0046]

[0047] In the formula, e represents the Earth's eccentricity, which is calculated using the following formula:

[0048]

[0049] S102. Based on the operating coverage size of the work vehicle, the real-time operating trajectory is extended outward to generate an operating vector surface; wherein the operating vector surface covers the real-time operating trajectory.

[0050] The work coverage dimension refers to the size of the area covered by the work vehicle during operation. The work coverage dimension is determined by the physical dimensions of the working devices on the work vehicle, which may include the header of a harvester, the water nozzle of a water truck, and the roller of a road roller. Defining the work coverage dimension determines the area covered by the work vehicle each time it moves, thus providing a basis for calculating the work area. For example, when performing bulldozing operations, the work coverage dimension can be the width of the bulldozer bucket; when performing spraying operations, the work coverage dimension can be the size of the area that the water truck can spray.

[0051] In this context, "expansion" refers to the process of extending the real-time work trajectory vertically outward based on the work coverage size. Since the real-time work trajectory is the trajectory of a specific point on the work vehicle's axis of symmetry, extending the real-time work trajectory to both sides by half the width of the work coverage size yields the actual coverage area of ​​the work vehicle. By expanding the real-time work trajectory, the actual area covered by the work vehicle can be calculated more accurately. This avoids ignoring the width of the work tools when calculating solely based on the real-time work trajectory; the expanded area better reflects the actual working range of the work vehicle. For example, if the work vehicle's work coverage size is 3 meters wide and the real-time work trajectory is a 2-meter long line segment, extending the work trajectory to both sides by 1.5 meters creates a new working area with an area of ​​6 square meters.

[0052] The working vector surface can refer to a planar area formed by extending the real-time working trajectory. The working vector surface can represent the actual coverage area of ​​the working vehicle.

[0053] In a specific example Figure 2 This is a schematic diagram of generating a work vector surface provided in an embodiment of the present invention. In the diagram, the black line segment represents the real-time work trajectory, the arrows on both sides of the black line segment indicate the operation of expanding the real-time work trajectory to both sides according to the coverage size of the work vehicle, and the black dashed box represents the work vector surface.

[0054] In a specific example, the process of generating the job vector surface can be achieved in the following way:

[0055] 1) Assuming the starting point of the line segment is (x1, y1), the ending point is (x2, y2), and the working width is w, the formula for calculating the direction vector of the line segment is as follows:

[0056] d x =x2-x1,d y =y2-y1

[0057] In the formula, d x and d y This represents the direction vector of the line segment along the x-axis and y-axis.

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

[0059]

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

[0061] 2) Based on the unit normal vector, generate the vertex coordinates of the offset working vector surface:

[0062] The formula for calculating the coordinates of the upper offset point is as follows:

[0063]

[0064] The formula for calculating the coordinates of the lower offset point is as follows:

[0065]

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

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

[0068] The working area can refer to the real-time working trajectory extended by the working coverage size of the working vehicle, generating a working vector surface that covers the entire working area. The working area is then converted into the area of ​​the working vector surface.

[0069] As can be seen, in this embodiment, by acquiring the driving trajectory of the work vehicle in real time, the measurement of the work area can be ensured to be timely and dynamic, the work progress can be monitored in real time, and the efficiency of work management can be improved. By expanding the work vehicle trajectory outward to generate a work vector surface, gap errors existing in the work vehicle's operation can be eliminated, thereby improving the accuracy of measurement. By ensuring that the work vector surface completely covers the work trajectory, the area actually covered by the work vehicle can be calculated more comprehensively, reducing the number of missed areas. By calculating the area of ​​the work vector surface, the work area of ​​the work area can be obtained accurately in real time. Through the above technical solution, the work area of ​​the work vehicle can be obtained in real time, and the accuracy of measuring the work area can be improved while reducing the amount of calculation.

[0070] In an optional embodiment, the process of "expanding the real-time work trajectory outward based on the work coverage size of the work vehicle to generate a work vector surface" is refined to "expanding outward in all directions at the start and end points of the real-time work trajectory, and vertically at other trajectory points of the real-time work trajectory based on the work coverage size of the work vehicle to generate a work vector surface", in order to improve the operation of work area detection.

[0071] It should be noted that for parts not described in detail in the embodiments of the present invention, please refer to the descriptions in other embodiments. Figure 3 This is a flowchart of a working area detection method provided in an embodiment of the present invention.

[0072] See Figure 3 The method for detecting the work area shown includes:

[0073] S301. Obtain the real-time operation trajectory of the work vehicle as it travels and operates within the work area.

[0074] S302. Based on the operating coverage size of the work vehicle, extend vertically at the start and end points of the real-time operating trajectory, and extend vertically at other trajectory points of the real-time operating trajectory to generate an operating vector surface; wherein, the operating vector surface covers the real-time operating trajectory.

[0075] Specifically, the real-time work trajectory extends vertically from its start and end points, with the extension distance being half the work coverage size. The start and end points serve as the boundaries of the real-time work trajectory. Other trajectory points can refer to all trajectory points between the start and end points, and their extension distance is also half the work coverage size. That is, by extending each trajectory point on the real-time work trajectory vertically to both sides, a work vector surface can be generated.

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

[0077] As can be seen, in this embodiment, by extending vertically at the start and end points of the work trajectory, complete coverage of the work area can be ensured. The start and end points serve as the boundaries of the work trajectory. Extending the real-time work trajectory can avoid missing any work areas, thereby improving the accuracy and completeness of the area calculation. By extending vertically at other points on the work trajectory, the actual work area of ​​the work vehicle can be reflected more accurately, and the actual work range of the work vehicle on the path can be simulated more finely, thereby improving the accuracy of the work area calculation.

[0078] In some embodiments, after generating the job vector surface, the method further includes:

[0079] Correct the gap areas in the working vector plane.

[0080] In this context, "gap areas" refer to portions of the work area that are not fully covered by the work vector surface generated after the work trajectory expands during operation. This is because the work vector surface of the vehicle does not completely cover the entire work area, resulting in gap areas; or the work coverage size of the vehicle may not be suitable for certain excessively wide or narrow work areas, leading to gap areas. In some special scenarios, such as when the work area contains potholes, preventing the vehicle from working in these areas, the area of ​​the potholes can be removed when calculating the work area. The area of ​​the potholes can be obtained through manual measurement.

[0081] Here, "correction" can refer to the operation of supplementing gaps in the work area. The algorithm fills in gaps caused by incomplete coverage of the work area by the work vector surface, ensuring complete coverage of the entire work area. For example, gaps can be filled by extending the work trajectory near the gaps.

[0082] As can be seen, in this embodiment, by correcting the gaps in the working vector plane, omissions caused by the working trajectory not completely covering the working area can be eliminated; by correcting the gaps, the accuracy of the working area measurement can be improved.

[0083] In some embodiments, correcting the void regions in the working vector plane includes:

[0084] The boundary of the working vector surface is expanded and shrunken to obtain a new vector surface;

[0085] If the new vector plane does not include the void region, update the void region according to the new vector plane.

[0086] Specifically, the expansion and contraction processing of the boundary of the working vector surface can refer to expanding each boundary of the working vector surface by a certain distance. If a boundary of the working vector surface overlaps with a boundary of another working vector surface, then the boundary of the working vector surface and the boundary of another working vector surface are not contracted. If the boundary of the working vector surface and the boundary of another working vector surface do not overlap after expansion, then the boundary of the working vector surface and the boundary of another working vector surface are contracted back to their original boundary positions.

[0087] Here, "new vector surface" can refer to the vector surface after the circle expands and shrinks the working vector surface. "Update" can refer to the operation of filling gap areas.

[0088] When the new vector surface does not include gap areas, it indicates that the boundaries of the working vector surface overlap with the boundaries of other working vector surfaces after expansion. This overlap suggests that the gap area is caused by the real-time working trajectory of the work vehicle not completely covering the working area. Therefore, this gap area is updated and filled. The processed vector surface will no longer contain gap areas smaller than half of the working coverage size, ensuring that the overall area calculation is suitable for the actual working conditions.

[0089] In a specific example, when expanding and shrinking a work vector surface, the coordinates of the vertices during expansion and shrinkage can be obtained through the following steps:

[0090] 1) Assume the vertex of the current vector plane is (x i ,y i (i = 1, 2, ..., n), with a working width of w. Calculate the coordinates of the expanded vertices:

[0091]

[0092] 2) Calculate the coordinates of the vertices after shrinking:

[0093]

[0094] As can be seen, in this embodiment, by expanding and shrinking the boundary of the working vector surface, the shape of the vector surface can be effectively adjusted to more accurately cover or adapt to the actual needs of the working area, which helps to reduce errors caused by inappropriate boundaries and ensure the accuracy of the working range. By updating the gap area according to the new vector surface, it can be ensured that the gap area is properly filled or adjusted, avoiding omissions in the working range, which helps to improve the consistency and integrity of the working surface, thereby reducing the possibility of omissions or overlaps and improving the accuracy and reliability of the working area measurement.

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

[0096] Establish a grid within the work area;

[0097] Map the operation vector surface onto the mesh to obtain the sub-vector surface of each mesh;

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

[0099] The area of ​​the sub-vector surfaces of each grid is statistically analyzed to obtain the working area of ​​the working region.

[0100] In this context, a grid refers to dividing the work area into several regularly shaped units. Each unit can be a grid. The grid size is adjusted according to the required accuracy of the work area measurement; the more precise the work area to be measured, the smaller the grid size, and vice versa. The grid can be a regular square. By creating a grid, complex work areas can be simplified into several easier-to-handle units. The work vector surfaces within each grid can be calculated individually, thereby improving the efficiency and accuracy of calculating the work area.

[0101] In a specific example, the established grid area is as follows: Figure 4 As shown in the figure, each positive side represents a grid, where point A represents the position of the work vehicle. Point A can also be the initial position of the work vehicle. The grid can be established when the work vehicle starts working in the work area.

[0102] Mapping can refer to projecting the working vector surface onto the established mesh.

[0103] A sub-vector plane can refer to a portion of the working vector plane within a grid region. The working vector plane is divided into smaller parts by the grid, and each part is called a sub-vector plane. A schematic diagram of a sub-vector plane is shown below. Figure 5 As mentioned above, G1, G2, G3, and G4 represent four grids, and M1, M2, M3, and M4 represent four sub-vector surfaces.

[0104] In a specific example Figure 6 This is a schematic diagram of mapping a work vector surface onto a grid to obtain sub-vector surfaces of each grid, provided by an embodiment of the present invention. The blue shaded area represents the work vector surface obtained after the work vehicle has performed all the work in the work area, and the empty part represents the gap area. The blue shaded area within the red box represents the sub-vector surface.

[0105] Specifically, calculating the area of ​​a sub-vector surface within a grid can refer to calculating the area of ​​each individual sub-vector surface within that grid. For example, when a work vehicle is performing operations, each time it moves to a new position, a new work vector surface is generated. When a sub-vector surface of this work vector surface appears within a grid, only the area of ​​the sub-vector surface within that grid is calculated and updated, thereby improving the computational efficiency of calculating the work area.

[0106] The operation area of ​​the work area is obtained by statistically analyzing the area of ​​the sub-vector surfaces of each grid. This can be achieved by statistically analyzing the area of ​​the sub-vector surfaces in each grid and then merging the areas of the sub-vector surfaces in all grids. This will give us the current real-time operation area.

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

[0108]

[0109] In the formula, (x n+1 ,y n+1 (x1, y1) represent the vertex coordinates of the (n+1)th and first sub-vector face vertices, and (x n+1 ,y n+1 The formula (x1, y1) ensures that the sub-vector plane is closed.

[0110] The formula for merging the areas of all sub-vector surfaces within the grid is as follows:

[0111]

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

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

[0114] In some embodiments, for each mesh, calculating the area of ​​the sub-vector facet of the mesh includes:

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

[0116] Calculate the area of ​​the sub-vector surfaces of the mesh based on each intersection point.

[0117] Specifically, for each grid, the intersection points of each sub-vector plane and the grid are obtained. Based on the coordinates of the intersection points and the vertex coordinates of the sub-vector planes, the area of ​​each sub-vector plane within the grid can be calculated.

[0118] In a specific example, based on the initially established mesh, the working vector surface is divided into several sub-vector surfaces, and the area of ​​the sub-vector surfaces can be calculated through the following steps:

[0119] 1) Determine the grid region: Determine the grid region where each sub-vector surface is located, and ensure that the correspondence with the grid is correct.

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

[0121] 3) For each sub-vector surface, calculate the intersection point with the mesh boundary. Let the vertex of the sub-vector surface be (x... i ,y i (i = 1, 2, ..., n), the grid boundary is the endpoint A(x) of line segment AB. a ,y a ) and B(x b ,y b ).

[0122] Calculate the intersection point by using the equation of the straight line and the boundary line segment:

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

[0124] In the formula, t is the parameter of the line segment, which satisfies 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 coordinates of the boundary intersection points of each sub-vector surface.

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

[0127] As can be seen, in this embodiment, by obtaining multiple intersection points between the sub-vector surface and the grid, the boundary of the sub-vector surface in 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, acquiring the real-time work trajectory of the work vehicle as it travels and operates within the work area includes:

[0129] During the continuous operation of the work vehicle on the same road segment in the work area, the real-time coordinates provided by the positioning antenna of the work vehicle are obtained. The positioning antenna is located on the axis of symmetry of the work vehicle.

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

[0131] Connect at least one real-time operating line segment along the operating area to obtain the real-time operating trajectory of the operating vehicle.

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

[0133] The positioning antenna is located on the axis of symmetry. It can extend the real-time operation trajectory outward according to the operation coverage size of the operation vehicle. When extending, both sides can simultaneously extend by half the length of the operation coverage size, which can avoid errors in the real-time operation trajectory extension caused by the antenna position being offset from the center of the vehicle.

[0134] In this context, the real-time operation line segment refers to connecting various real-time coordinates in chronological order to form the driving path of the work vehicle. By connecting real-time coordinates into line segments, a continuous driving path for the work vehicle during the operation is formed.

[0135] By connecting multiple real-time operation segments into a single overall trajectory, the real-time operation trajectory of the work vehicle within the work area is obtained. The real-time operation trajectory is the path the work vehicle follows throughout the entire operation, reflecting its real-time working route.

[0136] As can be seen, in this embodiment, by acquiring real-time coordinates during the operation of the vehicle, real-time monitoring of the vehicle's position in the work area can be achieved; the positioning antenna is located on the axis of symmetry of the vehicle, which can ensure that errors in the real-time work trajectory expansion are avoided due to the antenna position being offset from the center of the vehicle; by connecting the real-time coordinates acquired at each moment, a line segment of the vehicle's travel trajectory in each time period can be formed; by connecting multiple real-time work line segments, a complete real-time work trajectory of the vehicle in the work area can be formed.

[0137] Figure 7 This invention provides a schematic diagram of a work area detection device. This invention is applicable to work area detection and can execute work area detection methods. The device can be implemented in hardware and / or software.

[0138] See Figure 7 The work area detection device shown includes: a work trajectory acquisition module 701, a vector surface generation module 702, and a work area calculation module 703, wherein...

[0139] The operation trajectory acquisition module 701 is used to acquire the real-time operation trajectory of the operation vehicle as it travels and operates in the operation 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 operation vehicle to generate an operation vector surface; wherein the operation vector surface covers the real-time operation trajectory;

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

[0142] The technical solution of this invention, by acquiring the driving trajectory of the work vehicle in real time, ensures the timeliness and dynamism of the measurement of the working area, monitors the work progress in real time, and improves the efficiency of work management; by expanding the work vehicle trajectory outward to generate a working vector surface, gap errors existing in the work vehicle's operation can be eliminated, thereby improving the accuracy of measurement; by ensuring that the working vector surface completely covers the working trajectory, the actual area covered by the work vehicle can be calculated more comprehensively, reducing missed areas; by calculating the area of ​​the working vector surface, the working area of ​​the work area can be obtained accurately in real time; through the above technical solution, the working area of ​​the work vehicle can be obtained in real time, and the accuracy of measuring the area of ​​the working area can be improved while reducing the amount of calculation.

[0143] In some embodiments, in generating a working vector surface by extending the real-time working trajectory outward according to the working coverage size of the working vehicle, the vector surface generation module 702 is specifically used for:

[0144] Based on the work coverage size of the work vehicle, the work vector surface is generated by extending vertically at the start and end points of the real-time work trajectory, as well as at other trajectory points of the real-time work trajectory.

[0145] In some embodiments, after generating the job vector surface, the vector surface generation module 702 is specifically used for:

[0146] Correct the gap areas in the working vector plane.

[0147] In some embodiments, in correcting the void regions in the working vector surface, the vector surface generation module 702 is specifically used for:

[0148] The boundary of the working vector surface is expanded and shrunken to obtain a new vector surface;

[0149] If the new vector plane does not include the void region, update the void region according to the new vector plane.

[0150] In some embodiments, the work area calculation module 703 is specifically used for calculating the area of ​​the work vector surface to obtain the work area of ​​the work region, in order to:

[0151] Establish a grid within the work area;

[0152] Map the operation vector surface onto the mesh to obtain the sub-vector surface of each mesh;

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

[0154] The area of ​​the sub-vector surfaces of each grid is statistically analyzed to obtain the working area of ​​the working region.

[0155] In some embodiments, the working area calculation module 703 is specifically used for calculating the area of ​​the sub-vector surfaces of each grid:

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

[0157] Calculate the area of ​​the sub-vector surfaces of the mesh based on each intersection point.

[0158] In some embodiments, the work trajectory acquisition module 701 is specifically used for: acquiring the real-time work trajectory of the work vehicle traveling in the work area.

[0159] During the continuous operation of the work vehicle on the same road segment in the work area, the real-time coordinates provided by the positioning antenna of the work vehicle are obtained. The positioning antenna is located on the axis of symmetry of the work vehicle.

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

[0161] Connect at least one real-time operating line segment along the operating area to obtain the real-time operating trajectory of the operating vehicle.

[0162] The work area detection device provided in the embodiments of the present invention can execute the work area detection method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of executing the work area detection method.

[0163] Figure 8 This is a schematic diagram of the structure of a working area detection device provided in an embodiment of the present invention.

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

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

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

[0167] In some embodiments, the work area detection method may be implemented as a computer program tangibly contained 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 on the work area detection device 800 via ROM 802 and / or communication unit 809. When the computer program is loaded into RAM 803 and executed by processor 801, one or more steps of the work area detection method described above may be performed. Alternatively, in other embodiments, processor 801 may be configured to perform the work area detection method by any other suitable means (e.g., by means of firmware).

[0168] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0169] Computer programs used to implement 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 device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0170] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0171] To provide user interaction, the systems and techniques described herein can be implemented on an operational 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 pointing device (e.g., a mouse or trackball) through which the user provides input to the operational area detection device. Other types of devices can also be used to provide user interaction; for example, 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 technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0173] A computing system can include clients and servers. Clients and servers are generally geographically separated and typically interact via communication networks. The client-server relationship is established by computer programs running on the 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 cloud host, which is a hosting product within the cloud computing service system. It addresses the shortcomings of traditional physical hosts and VPS (Virtual Private Server) services, such as high management difficulty and weak business scalability.

[0174] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0175] The specific embodiments described above do not constitute a limitation on the scope of protection of this 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 principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for detecting the area of ​​a work area, characterized in that, The method includes: Acquire the real-time operation trajectory of the work vehicle as it travels within the work area; Based on the work coverage size of the work vehicle, the real-time work trajectory is extended outward to generate a work vector surface; wherein, the work vector surface covers the real-time work trajectory; Calculating the area of ​​the work vector surface to obtain the work area of ​​the work region includes: establishing a grid in the work region; mapping the work vector surface to the grid to obtain sub-vector surfaces of each grid; calculating the area of ​​the sub-vector surfaces of each grid for each grid; and statistically analyzing the areas of the sub-vector surfaces of each grid to obtain the work area of ​​the work region. The step of calculating the area of ​​the sub-vector surface of each mesh includes: For each of the aforementioned grids, obtain multiple intersection points between the sub-vector surface and the grid; Calculate the area of ​​the sub-vector surfaces of the mesh based on each of the intersection points.

2. The method according to claim 1, characterized in that, The step of expanding the real-time work trajectory outward based on the work coverage size of the work vehicle to generate a work vector surface includes: Based on the work coverage size of the work vehicle, the work vector surface is generated by extending vertically at the start and end points of the real-time work trajectory, as well as at other trajectory points of the real-time work trajectory.

3. The method according to claim 1, characterized in that, After generating the job vector surface, the following is also included: The gap regions in the working vector surface are corrected.

4. The method according to claim 3, characterized in that, The correction of the void region in the working vector plane includes: The boundary of the working vector surface is expanded and shrunken to obtain a new vector surface; If the new vector surface does not include the void region, the void region is updated according to the new vector surface.

5. The method according to claim 1, characterized in that, The acquisition of the real-time operation trajectory of the work vehicle as it travels within the work area includes: During the continuous operation of the work vehicle on the same road segment in the work area, the real-time coordinates provided by the positioning antenna of the work vehicle are obtained, and the positioning antenna is located on the axis of symmetry of the work vehicle. Connect the real-time coordinates to form the real-time operating line segment of the work vehicle; Connect at least one of the real-time operation segments along which the work vehicle travels in the work area to obtain the real-time operation trajectory of the work vehicle.

6. A working area detection device, characterized in that, include: The operation trajectory acquisition module is used to acquire the real-time operation trajectory of the operation vehicle as it travels and operates within the operation area; The vector surface generation module is used to expand the real-time operation trajectory outward 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; The work area calculation module is used to calculate the area of ​​the work vector surface to obtain the work area of ​​the work region, including: establishing a grid in the work region; mapping the work vector surface to the grid to obtain the sub-vector surface of each grid; calculating the area of ​​the sub-vector surface of each grid for each grid; and statistically analyzing the areas of the sub-vector surfaces of each grid to obtain the work area of ​​the work region. The work area calculation module includes: For each of the aforementioned grids, obtain multiple intersection points between the sub-vector surface and the grid; Calculate the area of ​​the sub-vector surfaces of the mesh based on each of the intersection points.

7. A working area detection device, characterized in that, The work area detection equipment includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the work area detection method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the working area detection method according to any one of claims 1-5.

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