Pointer type sprinkling machine anti-collision method, system, equipment, product and medium

Abstract

The invention belongs to the technical field of agricultural machinery, and provides a pointer type sprinkler anti-collision method, system, device, product and medium, and the method comprises the steps: adding central point latitude and longitude coordinates, device radius, device id and full-speed operation cycle for each pointer type sprinkler in a farm; calculating collision information of every two pointer type sprinkling machines and constructing a collision table; acquiring a collision area table of the operated pointer type sprinkling machine according to the equipment id; confirming the fastest arrival collision range boundary angle and the fastest possible collision of the pointer type sprinkling machine, and updating the stop and recovery instruction of the pointer type sprinkling machine; and repeatedly calculating to finish updating of shutdown and recovery instructions of all pointer type sprinkling machines needing to be scheduled. When a plurality of pointer type sprinkling machines work cooperatively, the complicated situation that two or more devices intersect possibly can be analyzed comprehensively, optimization of irrigation uniformity and operation efficiency is achieved, and device collision and resource waste are avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to a method, system, equipment, product and medium for preventing collisions of a pointer-type sprinkler. Background Art

[0002] The process of agricultural intelligence is advancing faster and faster, and large-scale intelligent pointer sprinklers have also become the infrastructure of modern agriculture. However, when using pointer sprinklers, due to the irregular shape of the farm and other infrastructure on the farm, there may be a situation where multiple pointer sprinklers are used on the same farm. When the operator operates the pointer sprinklers on the same farm, it is difficult to clearly understand the operating status of each pointer sprinkler in detail, resulting in different pointer sprinklers colliding with each other during operation. Summary of the Invention

[0003] The present invention aims to address at least one of the technical problems existing in the related art. To this end, the present invention provides a method, system, device, product, and medium for preventing collisions between pointer-type sprinklers. These methods, when multiple pointer-type sprinklers are operating in coordination, comprehensively analyze the complex situations in which two or more pointer-type sprinklers may intersect, thereby optimizing irrigation uniformity and operating efficiency and avoiding equipment collisions and resource waste.

[0004] The present invention provides a method for preventing a pointer-type sprinkler from collision, comprising: S1: Add the center point longitude and latitude coordinates, device radius, device ID, and full-speed operation cycle of each pointer sprinkler in the farm; S2: Calculate the collision information between two pointer sprinklers based on the latitude and longitude coordinates of the center point of the pointer sprinkler and the equipment radius, and construct a collision table based on the collision information; S3: when the operating state and / or operating intensity of the operated pointer-type sprinkler changes, obtaining a collision zone table of the operated pointer-type sprinkler from the collision table according to the device ID; S4: Traverse the collision information of all pointer sprinklers in the collision zone table, determine the fastest collision zone boundary and the corresponding pointer sprinkler that is most likely to collide, calculate the time it takes for the operated pointer sprinkler to reach the collision zone boundary based on the collision zone boundary and the full-speed operation cycle of the pointer sprinkler, and obtain the first time; S5: Calculating the operating angle of the pointer sprinkler that is most likely to collide the fastest at the first time, determining the order in which the operated pointer sprinkler and the pointer sprinkler that is most likely to collide arrive at the collision zone boundary based on the operating angle, and updating the stop and resume instructions of the pointer sprinklers based on the order in which they arrive at the collision zone boundary; S6: Repeat steps S3 to S5 to obtain the scheduling instructions of all pointer-type sprinklers that need to be scheduled.

[0005] According to the present invention, a pointer-type sprinkler anti-collision method further includes step S2, which includes: Step S2 includes: S21: Calculate the center distance between the two pointer-type sprinklers, and determine whether the two pointer-type sprinklers will collide based on the center distance; S22: If no collision occurs, no processing is required. If a collision occurs, the intersection of the running trajectories of the two pointer-type filling machines is calculated; S23: Calculate the angle between the intersection of the running track and the line connecting the center point of the pointer-type sprinkler and the true north direction; S24: Save the angle between the intersection of the running track and the line connecting the center point of the pointer-type sprinkler and the true north direction to the collision table.

[0006] According to the present invention, a method for preventing collisions of pointer-type sprinklers further includes calculating the center distance between two pointer-type sprinklers according to a haversine formula in step S21.

[0007] According to the present invention, a method for preventing collision of a pointer-type sprinkler machine further includes step S22 comprising: S221: Calculate the longitude difference and latitude difference of the two pointer-type sprinklers, convert the longitude difference and latitude difference into radians, and obtain the longitude difference radian and the latitude difference radian; S222: Calculating the two-dimensional coordinates of the second pointer-type sprinkler based on the longitude difference arc and the latitude difference arc; S223: Calculate the distance between the center points of the two pointer-type sprinklers, and calculate the unit vector based on the distance between the center points. Calculate the coordinates of the intersection of the line connecting the two circle centers and the line connecting the two circle intersection points based on the unit vector. Calculate the intersection of the two pointer-type sprinkler tracks based on the coordinates of the intersection of the line connecting the two circle centers and the line connecting the two circle intersection points. The calculation expression is: in, is the two-dimensional horizontal coordinate of the second pointer sprinkler, is the two-dimensional vertical coordinate of the second pointer sprinkler, is the radius of the first pointer sprinkler, is the radius of the second pointer sprinkler, is the distance between the two circle centers, is the first auxiliary variable, is the second auxiliary variable, is the unit vector in the direction of the coordinate point from the first pointer sprinkler to the second pointer sprinkler in the two-dimensional coordinate system; The coordinates of the intersection of the line connecting the two circle centers and the line connecting the two circle intersection points are: in, is the horizontal coordinate of the intersection of the line connecting the two circle centers and the line connecting the two circle intersection points, is the ordinate of the intersection of the line connecting the two circle centers and the line connecting the intersection points of the two circles. The intersection of the running tracks of the two spray pointer type filling machines is and .

[0008] According to the present invention, a method for preventing collision of a pointer-type sprinkler machine further includes step S5 comprising: S51: Calculating the operating angle of the pointer-type sprinkler that is most likely to collide at the first time; S52: Determine whether the operating angle is within the collision zone. If the operating angle is within the collision zone, calculate the angle difference between the pointer sprinkler that is most likely to collide and the collision zone boundary, as well as the angle difference between the operated pointer sprinkler and the collision zone boundary. The pointer sprinkler with the smaller angle difference is regarded as the pointer sprinkler that entered the collision zone later. S53: Calculating the time it takes for the pointer sprinkler to enter the collision zone to reach the boundary of the collision zone, and obtaining a second time. The second time is used to schedule a stop instruction for the pointer sprinkler to enter the collision zone. S54: Calculate the time it takes for the pointer-type sprinkler that enters the collision zone first to run to the boundary of the collision zone to obtain a third time, add the second time and the third time to obtain a fourth time, and use the fourth time to schedule a recovery instruction for the sprinkler that enters the collision zone later.

[0009] According to the present invention, a method for preventing a pointer-type sprinkler from collision further includes: in step S5, the time required for the pointer-type sprinkler to operate at a certain angle is calculated based on all operating states, operating intensities, and the angle required for the pointer-type sprinkler to operate in the equipment and collision information, and the calculation expression is: in, It is the time required for the pointer sprinkler to run a certain angle. The time required for the pointer type sprinkler to run once at its maximum operating intensity to reach its set operable angle. It is the operating intensity of pointer sprinkler. The angle at which the pointer sprinkler is expected to operate. The angle at which a pointer pivot can be operated.

[0010] The present invention further provides a pointer-type sprinkler anti-collision system for executing any one of the above-mentioned pointer-type sprinkler anti-collision methods, comprising: An adding module, wherein the adding module adds the center point longitude and latitude coordinates, device radius, device ID, and full-speed operation cycle of the pointer sprinkler for each pointer sprinkler in the farm; A construction module, wherein the construction module calculates collision information between two pointer-type sprinklers according to the latitude and longitude coordinates of the center points of the pointer-type sprinklers and the radius of the equipment, and constructs a collision table according to the collision information; an acquisition module, wherein when the operating state and / or operating intensity of the operated pointer-type sprinkler changes, the acquisition module acquires a collision zone table of the operated pointer-type sprinkler from the collision table according to the device ID; a calculation module, the calculation module traversing the collision information of all pointer sprinklers in the collision zone table, identifying the fastest-reaching collision zone boundary and the corresponding pointer sprinkler that is most likely to collide, and calculating the time it takes for the operated pointer sprinkler to reach the collision zone boundary based on the collision zone boundary and the full-speed operation cycle of the pointer sprinkler to obtain a first time; an updating module, the updating module calculating the operating angle of the pointer sprinkler that is most likely to collide at the first time, determining the order in which the operated pointer sprinkler and the pointer sprinkler that is most likely to collide reach the boundary of the collision zone based on the operating angle, and updating the stop and resume instructions of the pointer sprinklers based on the order in which they reach the boundary of the collision zone; A global update module is provided, wherein the global update module obtains the scheduling instructions of all pointer-type sprinklers that need to be scheduled.

[0011] The present invention also provides an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps of any one of the above-described methods for preventing collisions of a pointer-type sprinkler are implemented.

[0012] The present invention also provides a computer program product, comprising a computer program, which implements any of the above-mentioned anti-collision methods for pointer-type sprinklers when executed by a processor.

[0013] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of any one of the above-mentioned anti-collision methods for a pointer-type sprinkler are implemented.

[0014] The above one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects: When multiple pointer-type sprinklers work in coordination, the present invention can comprehensively analyze the complex situations in which two or more pointer-type sprinklers may intersect, optimize irrigation uniformity and operation efficiency, and avoid equipment collision and resource waste.

[0015] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 The present invention provides a flow chart of a method for preventing collisions of a pointer-type sprinkler.

[0018] Figure 2 The present invention provides a schematic structural diagram of a pointer-type sprinkler anti-collision system.

[0019] Figure 3 It is a structural schematic diagram of the electronic device provided by the present invention.

[0020] Reference numerals: 101. Add module; 102. Build module; 103. Acquisition module; 104. Calculation module; 105. Update module; 106. Global update module; 201. Processor; 202. Communication bus; 203. Communication interface; 204. Memory. DETAILED DESCRIPTION

[0021] To make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below. Obviously, the embodiments described are 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 ordinary technicians in this field without making creative work are within the scope of protection of the present invention. The following embodiments are used to illustrate the present invention, but are not used to limit the scope of the present invention.

[0022] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0023] The following combination Figures 1 to 3 The present invention describes a method, system, device, product and medium for preventing collision of a pointer-type sprinkler.

[0024] like Figure 1 As shown, a method for preventing collision of a pointer-type sprinkler includes: S1: Add the center point longitude and latitude coordinates, device radius, device ID, and full-speed operation cycle of each pointer sprinkler in the farm; In some specific embodiments of the present invention, the center point longitude and latitude coordinates, device radius, device ID, and full-speed operation cycle of the pointer sprinkler are added to each pointer sprinkler in the pointer sprinkler management system in the same farm.

[0025] The pointer sprinkler includes a data acquisition module, a communication module and a control execution module. The data acquisition module collects the operating status information of the pointer sprinkler in real time. The operating status information includes real-time position, operating status, operating intensity, water pump on status, fertilizer machine on status, and tail gun on status; the communication module realizes real-time data communication between the pointer sprinkler and the scheduling server; after receiving the data from the scheduling server, the control execution module realizes the actual control of each component of the pointer sprinkler.

[0026] The scheduling server includes data acquisition instructions, pointer sprinkler machine construction instructions and polling instructions. The data acquisition instructions are responsible for obtaining the data reported by the pointer sprinkler machine; the pointer sprinkler machine construction instructions use a predetermined method to calculate the instructions of each pointer sprinkler machine based on the data reported by the pointer sprinkler machine and save them to the database; the polling instructions poll the pointer sprinkler machine instructions in the database and issue the instructions.

[0027] S2: Calculate the collision information between two pointer sprinklers based on the latitude and longitude coordinates of the center point of the pointer sprinkler and the equipment radius, and construct a collision table based on the collision information; S21: Calculate the center distance between the two pointer-type sprinklers, and determine whether the two pointer-type sprinklers will collide based on the center distance; Calculate the center distance of two-pointer sprinkler according to the haversine formula; The calculation expression is: in, is the intermediate distance variable, For the first pointer sprinkler latitude, For the second pointer sprinkler latitude, is the latitude difference between the two pointer sprinklers, , is the longitude of the first pointer sprinkler, is the longitude of the second pointer sprinkler, is the longitude difference between the two pointer sprinklers, , is the intermediate variable of angle, is the center distance between two pointer sprinklers, is the radius of the Earth.

[0028] S22: If no collision occurs, no processing is required. If a collision occurs, the longitude and latitude coordinates of the intersection of the running tracks of the two pointer-type spraying machines are calculated; S221: Calculate the longitude difference and latitude difference of the two pointer-type sprinklers, convert the longitude difference and latitude difference into radians, and obtain the longitude difference radian and the latitude difference radian; S222: Calculating the two-dimensional coordinates of the second pointer-type sprinkler based on the longitude difference arc and the latitude difference arc; in, is the two-dimensional horizontal coordinate of the second pointer sprinkler, is the longitude difference in radians, is the latitude of the first pointer sprinkler, is the two-dimensional vertical coordinate of the second pointer sprinkler, is the latitude difference in radians, is the radius of the Earth; S223: Calculate the distance between the center points of the two pointer-type sprinklers, and calculate the unit vector based on the distance between the two circle centers. Calculate the coordinates of the intersection of the line connecting the two circle centers and the line connecting the two circle intersections based on the unit vector. Calculate the intersection of the running trajectories of the two pointer-type sprinklers based on the coordinates of the intersection of the line connecting the two circle centers and the line connecting the two circle intersections. The calculation expression is: in, is the radius of the first pointer sprinkler, is the radius of the second pointer sprinkler, is the distance between the two circle centers, is the first auxiliary variable, is the second auxiliary variable, is the unit vector in the direction of the coordinate point from the first pointer sprinkler to the second pointer sprinkler in the two-dimensional coordinate system; The coordinates of the intersection of the line connecting the two circle centers and the line connecting the two circle intersection points are: in, is the horizontal coordinate of the intersection of the line connecting the two circle centers and the line connecting the two circle intersection points, The vertical coordinate of the intersection of the line connecting the two circle centers and the line connecting the intersection points of the two circles, and the intersection of the running tracks of the two spray pointer type filling machines and .

[0029] S23: Calculate the angle between the intersection of the running track and the line connecting the center point of the pointer-type sprinkler and the true north direction; Use the atan2 function to calculate the angle in radians and convert the result to degrees (multiply by ), the result is in the range [-180,180], use , convert it to a value of [0,360], where mod is the remainder function.

[0030] S24: Save the angle between the intersection of the running track and the line connecting the center point of the pointer-type sprinkler and the true north direction to the collision table.

[0031] S3: when the operating state and / or operating intensity of the operated pointer-type sprinkler changes, obtaining a collision zone table of the operated pointer-type sprinkler from the collision table according to the device ID; The status changes of the Pivot are as follows: Only adjust the shutdown state , the operating status is only adjusted , operating status adjustment Opt (equipment operating status, referred to as Opt) shutdown (allowed to include Percent), operating status adjustment Opt reverse (allowed to include Percent), shutdown status change Opt forward or reverse (allowed to include Percent).

[0032] Pivot downtime adjustment Percent: Issue orders directly.

[0033] The Pivot operation status only adjusts the Percent: Check if there is any possibility of collision with other Pivots in the system; If this is not possible, simply issue an adjustment instruction and end the process; If possible, check whether there is already expected scheduling information; If not, issue the command directly and end; If yes, get the Pivot's scheduling instructions and recalculate the scheduling instruction time; Get all the scheduling instructions in the current system and update the scheduling time synchronously.

[0034] Pivot operation status adjustment Opt shutdown: Check whether it is a stop instruction through the collision zone. If so, update the next scheduling instruction and end; If not, check whether there is a possibility of collision with other Pivots in the system. If not, issue a stop command and end; If possible, check whether the parking angle is in a collision zone; If it is not in the collision zone, delete the scheduling instructions related to the Pivot; If it is in the collision zone, delete the scheduling instructions of the Pivot, obtain the scheduling instructions of other Pivots related to the Pivot, and cancel the recovery operation; Issue the shutdown command and end.

[0035] Pivot operation status adjustment Opt reverse, stop status change Opt forward or reverse: Check if there is any possibility of collision with other Pivots in the system; If it is not possible, issue the run command and end; If possible, iterates over the collision information in the system and calculates the dispatch instructions.

[0036] S4: Traverse the collision information of all pointer sprinklers in the collision zone table, determine the fastest collision zone boundary and the corresponding pointer sprinkler that is most likely to collide, calculate the time it takes for the operated pointer sprinkler to reach the collision zone boundary based on the collision zone boundary and the full-speed operation cycle of the pointer sprinkler, and obtain the first time.

[0037] S5: Calculating the operating angle of the pointer sprinkler that is most likely to collide the fastest at the first time, determining the order in which the operated pointer sprinkler and the pointer sprinkler that is most likely to collide arrive at the collision zone boundary based on the operating angle, and updating the stop and resume instructions of the pointer sprinklers based on the order in which they arrive at the collision zone boundary; S51: Calculating the operating angle of the pointer-type sprinkler that is most likely to collide at the first time; S52: Determine whether the operating angle is within the collision zone. If the operating angle is within the collision zone, calculate the angle difference between the pointer sprinkler that is most likely to collide and the collision zone boundary, as well as the angle difference between the operated pointer sprinkler and the collision zone boundary. The pointer sprinkler with the smaller angle difference is regarded as the pointer sprinkler that entered the collision zone later. S53: Calculating the time it takes for the pointer sprinkler to enter the collision zone to reach the boundary of the collision zone, and obtaining a second time. The second time is used to schedule a stop instruction for the pointer sprinkler to enter the collision zone. S54: Calculate the time it takes for the pointer sprinkler that enters the collision zone first to run to the boundary of the collision zone to obtain a third time, add the second time and the third time to obtain a fourth time, and use the fourth time to schedule a recovery instruction for the pointer sprinkler that enters the collision zone later.

[0038] The obtained pointer sprinkler stop instruction and pointer sprinkler recovery instruction are saved to the scheduling information in the cache for persistence operation.

[0039] The time required for the pointer sprinkler to run at a certain angle is calculated based on all the operating states, operating intensity, and the angle at which the pointer sprinkler needs to run in the equipment and collision information. The calculation expression is: in, It is the time required for the pointer sprinkler to run a certain angle. The time required for the pointer type sprinkler to run once at its maximum operating intensity to reach its set operable angle. It is the operating intensity of pointer sprinkler. The angle at which the pointer sprinkler is expected to operate. The angle at which a pointer pivot can be operated.

[0040] S6: Repeat steps S3 to S5 to obtain the scheduling instructions of all pointer-type sprinklers that need to be scheduled.

[0041] If the operating instructions obtained by the pointer sprinkler management system include downtime, the system will roughly calculate the time for the water pump and fertilizer pump to shut down in advance based on the volume of the water supply pipe and the outlet flow rate to avoid surface runoff caused by the simultaneous shutdown of the pointer sprinkler and the water pump. The calculation expression of water pump downtime is: The fertilizer pump downtime is 5 minutes earlier than the water pump downtime to avoid fertilizer clogging the nozzle.

[0042] When a pointer sprinkler is added or deleted in the pointer sprinkler management system, or when the longitude and latitude coordinates of the center point of any pointer sprinkler change, or the length of the equipment changes, the collision table must be rebuilt, and the operating instructions of each pointer sprinkler in the system must be rebuilt based on the new collision table.

[0043] When the operating status and operating intensity of the pointer sprinkler in the system change, or when the minimum operating cycle time parameters and outlet flow parameters are changed, the operating instructions must be rebuilt.

[0044] like Figure 2 As shown, a pointer-type sprinkler anti-collision system is used to implement the above-mentioned pointer-type sprinkler anti-collision method, including: The adding module 101 adds the center point longitude and latitude coordinates, device radius, device ID and full speed operation cycle of the pointer sprinkler for each pointer sprinkler in the farm; The construction module 102 calculates the collision information of two pointer sprinklers according to the latitude and longitude coordinates of the center points of the pointer sprinklers and the radius of the equipment, and constructs a collision table according to the collision information; When the operating state and / or operating intensity of the operated pointer sprinkler changes, the acquisition module 103 acquires the collision zone table of the operated pointer sprinkler from the collision table according to the device ID; The calculation module 104 traverses the collision information of all the pointer sprinklers in the collision zone table, identifies the fastest collision zone boundary and the corresponding pointer sprinkler that is most likely to collide, and calculates the time it takes for the operated pointer sprinkler to reach the collision zone boundary based on the collision zone boundary and the full-speed operation cycle of the pointer sprinkler to obtain a first time. The updating module 105 calculates the operating angle of the pointer sprinkler that is most likely to collide at the first time, determines the order in which the operated pointer sprinkler and the pointer sprinkler that is most likely to collide reach the collision zone boundary based on the operating angle, and updates the stop and resume instructions of the pointer sprinklers based on the order in which they reach the collision zone boundary; The global update module 106 obtains the scheduling instructions of all pointer sprinklers that need to be scheduled.

[0045] Through the collaborative work of the above modules, it is possible to comprehensively analyze the complex situations in which two or more pointer sprinklers may intersect when multiple pointer sprinklers work together, optimize irrigation uniformity and operating efficiency, and avoid equipment collisions and resource waste.

[0046] Figure 3 An example of a physical structure diagram of an electronic device is shown below. Figure 3As shown, the electronic device may include: a processor 201 (processor), a communication interface 203 (Communications Interface), a memory 204 (memory), and a communication bus 202. The processor 201, the communication interface 203, and the memory 204 communicate with each other via the communication bus 202. The processor 201 may call logic instructions in the memory 204 to execute a method for preventing collisions of a pointer-type sprinkler.

[0047] Furthermore, the logic instructions in the aforementioned memory 204 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product, stored in a storage medium, includes instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage media include various media capable of storing program code, such as USB flash drives, mobile hard drives, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0048] On the other hand, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute a pointer-type sprinkler anti-collision method provided by the above methods.

[0049] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is configured to execute the aforementioned anti-collision method for a pointer-type sprinkler when the computer program is executed by a processor.

[0050] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0051] Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software plus a necessary general-purpose hardware platform, or of course, hardware. Based on this understanding, the essence of the above technical solution, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for causing a computer device (such as a personal computer, server, or network device) to execute the methods described in each embodiment or certain portions of the embodiments.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for preventing collision of a pointer-type sprinkler, characterized in that: include: S1: Add the center point longitude and latitude coordinates, device radius, device ID, and full-speed operation cycle of each pointer sprinkler in the farm; S2: Calculate the collision information between two pointer sprinklers based on the latitude and longitude coordinates of the center point of the pointer sprinkler and the equipment radius, and construct a collision table based on the collision information; S3: when the operating state and / or operating intensity of the operated pointer-type sprinkler changes, obtaining a collision zone table of the operated pointer-type sprinkler from the collision table according to the device ID; S4: Traverse the collision information of all pointer sprinklers in the collision zone table, determine the fastest collision zone boundary and the corresponding pointer sprinkler that is most likely to collide, calculate the time it takes for the operated pointer sprinkler to reach the collision zone boundary based on the collision zone boundary and the full-speed operation cycle of the pointer sprinkler, and obtain the first time; S5: Calculating the operating angle of the pointer sprinkler that is most likely to collide the fastest at the first time, determining the order in which the operated pointer sprinkler and the pointer sprinkler that is most likely to collide arrive at the collision zone boundary based on the operating angle, and updating the stop and resume instructions of the pointer sprinklers based on the order in which they arrive at the collision zone boundary; S6: Repeat steps S3 to S5 to obtain the scheduling instructions of all pointer-type sprinklers that need to be scheduled.

2. A pointer-type sprinkler anti-collision method according to claim 1, characterized in that: Step S2 includes: S21: Calculate the center distance between the two pointer-type sprinklers, and determine whether the two pointer-type sprinklers will collide based on the center distance; S22: If no collision occurs, no processing is required. If a collision occurs, the intersection of the running trajectories of the two pointer-type filling machines is calculated; S23: Calculate the angle between the intersection of the running track and the line connecting the center point of the pointer-type sprinkler and the true north direction; S24: Save the angle between the intersection of the running track and the line connecting the center point of the pointer-type sprinkler and the true north direction to the collision table.

3. A pointer-type sprinkler anti-collision method according to claim 2, characterized in that: In step S21, the center distance between the two pointer-type sprinklers is calculated according to the haversine formula.

4. The anti-collision method for a pointer-type sprinkler according to claim 2, characterized in that: Step S22 includes: S221: Calculate the longitude difference and latitude difference of the two pointer-type sprinklers, convert the longitude difference and latitude difference into radians, and obtain the longitude difference radian and the latitude difference radian; S222: Calculating the two-dimensional coordinates of the second pointer-type sprinkler based on the longitude difference arc and the latitude difference arc; S223: Calculate the distance between the center points of the two pointer-type sprinklers, and calculate the unit vector based on the distance between the center points. Calculate the coordinates of the intersection of the line connecting the two circle centers and the line connecting the two circle intersection points based on the unit vector. Calculate the intersection of the two pointer-type sprinkler tracks based on the coordinates of the intersection of the line connecting the two circle centers and the line connecting the two circle intersection points. The calculation expression is: in, is the two-dimensional horizontal coordinate of the second pointer sprinkler, is the two-dimensional vertical coordinate of the second pointer sprinkler, is the radius of the first pointer sprinkler, is the radius of the second pointer sprinkler, is the distance between the two circle centers, is the first auxiliary variable, is the second auxiliary variable, is the unit vector in the direction of the coordinate point from the first pointer sprinkler to the second pointer sprinkler in the two-dimensional coordinate system; The coordinates of the intersection of the line connecting the two circle centers and the line connecting the two circle intersection points are: in, is the horizontal coordinate of the intersection of the line connecting the two circle centers and the line connecting the two circle intersection points, is the ordinate of the intersection of the line connecting the two circle centers and the line connecting the intersection points of the two circles. The intersection of the running tracks of the two spray pointer type filling machines is and .

5. The anti-collision method for a pointer-type sprinkler according to claim 2, characterized in that: Step S5 includes: S51: Calculating the operating angle of the pointer-type sprinkler that is most likely to collide at the first time; S52: Determine whether the operating angle is within the collision zone. If the operating angle is within the collision zone, calculate the angle difference between the pointer sprinkler that is most likely to collide and the collision zone boundary, as well as the angle difference between the operated pointer sprinkler and the collision zone boundary. The pointer sprinkler with the smaller angle difference is regarded as the pointer sprinkler that entered the collision zone later. S53: Calculating the time it takes for the pointer sprinkler to enter the collision zone to reach the boundary of the collision zone, and obtaining a second time. The second time is used to schedule a stop instruction for the pointer sprinkler to enter the collision zone. S54: Calculate the time it takes for the pointer-type sprinkler that enters the collision zone first to run to the boundary of the collision zone to obtain a third time, add the second time and the third time to obtain a fourth time, and use the fourth time to schedule a recovery instruction for the sprinkler that enters the collision zone later.

6. The anti-collision method for a pointer-type sprinkler according to claim 1, characterized in that: In step S5, the time required for the pointer sprinkler to run at a certain angle is calculated based on all the operating states, operating intensities, and the angles required for the pointer sprinkler to run in the equipment and collision information. The calculation expression is: in, It is the time required for the pointer sprinkler to run a certain angle. The time required for the pointer type sprinkler to run once at its maximum operating intensity to reach its set operable angle. It is the operating intensity of pointer sprinkler. The angle at which the pointer sprinkler is expected to operate. The angle at which a pointer pivot can be operated.

7. A pointer-type sprinkler anti-collision system, characterized in that: A method for preventing a pointer-type sprinkler from collision according to any one of claims 1 to 6, comprising: An adding module, wherein the adding module adds the center point longitude and latitude coordinates, device radius, device ID, and full-speed operation cycle of the pointer sprinkler for each pointer sprinkler in the farm; A construction module, wherein the construction module calculates collision information between two pointer-type sprinklers according to the latitude and longitude coordinates of the center points of the pointer-type sprinklers and the radius of the equipment, and constructs a collision table according to the collision information; an acquisition module, wherein when the operating state and / or operating intensity of the operated pointer-type sprinkler changes, the acquisition module acquires a collision zone table of the operated pointer-type sprinkler from the collision table according to the device ID; a calculation module, the calculation module traversing the collision information of all pointer sprinklers in the collision zone table, identifying the fastest-reaching collision zone boundary and the corresponding pointer sprinkler that is most likely to collide, and calculating the time it takes for the operated pointer sprinkler to reach the collision zone boundary based on the collision zone boundary and the full-speed operation cycle of the pointer sprinkler to obtain a first time; an updating module, the updating module calculating the operating angle of the pointer sprinkler that is most likely to collide at the first time, determining the order in which the operated pointer sprinkler and the pointer sprinkler that is most likely to collide reach the boundary of the collision zone based on the operating angle, and updating the stop and resume instructions of the pointer sprinklers based on the order in which they reach the boundary of the collision zone; A global update module is provided, wherein the global update module obtains the scheduling instructions of all pointer-type sprinklers that need to be scheduled.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the anti-collision method for a pointer-type sprinkler irrigation machine as described in any one of claims 1 to 6 are implemented.

9. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the anti-collision method for a pointer-type sprinkler according to any one of claims 1 to 6 is implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the anti-collision method for a pointer-type sprinkler are implemented as described in any one of claims 1 to 6.

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