A pointer type sprinkler anti-collision method, system, device, product and medium

Abstract

The application belongs to the technical field of agricultural machinery, and provides a pointer type sprinkling machine anti-collision method, system, device, product and medium, which comprises the following steps: adding the central point latitude and longitude coordinates, device radius, device id and full speed running period to each pointer type sprinkling machine in a farm; calculating the collision information of two pointer type sprinkling machines and constructing a collision table; obtaining the collision area table of the operated pointer type sprinkling machine according to the device id; confirming the fastest reached collision range boundary angle and the fastest possible collision pointer type sprinkling machine, updating the stop and recovery instructions of the pointer type sprinkling machine; and repeating the calculation to complete the update of the stop and recovery instructions of all the pointer type sprinkling machines that need to be dispatched. When multiple pointer type sprinkling machines work cooperatively, the application can comprehensively analyze the complex situation that two or more devices intersect, optimize the irrigation uniformity and operation efficiency, and avoid device collision and resource waste.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of agricultural machinery, and in particular to a pointer type sprinkling irrigation machine anti-collision method, system, device, product and medium. BACKGROUND

[0002] With the increasingly fast progress of agricultural intelligence, large intelligent pointer type sprinkling irrigation machines have become the infrastructure of modern agriculture. However, when the pointer type sprinkling irrigation machines are applied, due to the irregular shape of the farm and other infrastructure in the farm, multiple pointer type sprinkling irrigation machines may be used in the same farm. When an operator operates the pointer type sprinkling irrigation machines in the same farm, it is difficult for the operator to clearly understand the running state of each pointer type sprinkling irrigation machine, and therefore the pointer type sprinkling irrigation machines may collide with each other when running. SUMMARY

[0003] The application aims to at least solve one of the technical problems in the related art. To this end, the application provides a pointer type sprinkling irrigation machine anti-collision method, system, device, product and medium, which can comprehensively analyze the complex situation that two or more pointer type sprinkling irrigation machines may intersect when the pointer type sprinkling irrigation machines work cooperatively, optimize irrigation uniformity and running efficiency, and avoid equipment collision and resource waste.

[0004] The application provides a pointer type sprinkling irrigation machine anti-collision method, which comprises the following steps:

[0005] S1: adding the central point longitude and latitude coordinates, the equipment radius, the equipment id and the full-speed running period of each pointer type sprinkling irrigation machine in the farm;

[0006] S2: calculating the collision information of the pointer type sprinkling irrigation machines according to the central point longitude and latitude coordinates and the equipment radius of the pointer type sprinkling irrigation machines, and constructing a collision table according to the collision information;

[0007] S3: when the running state and / or the running intensity of the operated pointer type sprinkling irrigation machine changes, obtaining the collision zone table of the operated pointer type sprinkling irrigation machine from the collision table according to the equipment id;

[0008] S4: traversing the collision information of all the pointer type sprinkling irrigation machines in the collision zone table, confirming the collision zone boundary reached the fastest and the pointer type sprinkling irrigation machine that is most likely to collide, calculating the time for the operated pointer type sprinkling irrigation machine to run to the collision zone boundary according to the collision zone boundary and the full-speed running period of the pointer type sprinkling irrigation machine, and obtaining a first time;

[0009] S5: calculating the running angle of the pointer type sprinkling irrigation machine that is most likely to collide according to the first time, judging the sequence of the operated pointer type sprinkling irrigation machine and the pointer type sprinkling irrigation machine that is most likely to collide to reach the collision zone boundary according to the running angle, and updating the shutdown and recovery instructions of the pointer type sprinkling irrigation machine according to the sequence of reaching the collision zone boundary.

[0010] S6: Repeat S3 to S5 steps to obtain scheduling instructions of all pointer sprinklers that need to be scheduled.

[0011] The pointer sprinkler anti-collision method provided by the application further comprises the S2 step, which comprises,

[0012] The S2 step comprises:

[0013] S21: Calculate the center distance of the two pointer sprinklers, and determine whether the two pointer sprinklers will collide according to the center distance;

[0014] S22: If there is no collision, no processing is needed; if there is a collision, the intersection point of the running tracks of the two pointer sprinklers is calculated;

[0015] S23: Calculate the angle between the line connecting the intersection point of the running tracks and the center point of the pointer sprinkler and the north direction;

[0016] S24: Save the angle between the line connecting the intersection point of the running tracks and the center point of the pointer sprinkler and the north direction to the collision table.

[0017] The pointer sprinkler anti-collision method provided by the application further comprises the S21 step, wherein the center distance of the two pointer sprinklers is calculated according to the versine formula.

[0018] The pointer sprinkler anti-collision method provided by the application further comprises the S22 step, which comprises:

[0019] S221: Calculate the longitude difference and the latitude difference of the two pointer sprinklers, convert the longitude difference and the latitude difference into radians, and obtain the longitude difference radian and the latitude difference radian;

[0020] S222: Calculate the two-dimensional coordinates of the second pointer sprinkler according to the longitude difference radian and the latitude difference radian;

[0021] S223: Calculate the center point distance of the two pointer sprinklers, calculate the unit vector according to the center point distance, calculate the coordinates of the intersection point of the line connecting the two center points and the line connecting the two intersection points of the circles according to the unit vector, and calculate the intersection point of the running tracks of the two pointer sprinklers according to the coordinates of the line connecting the two center points and the line connecting the two intersection points of the circles, and the calculation expression is:

[0022]

[0023]

[0024]

[0025]

[0026] wherein, is a two-dimensional horizontal coordinate of the second pointer sprinkler, is a two-dimensional vertical coordinate of the second pointer sprinkler, is a radius of the first pointer sprinkler, is a radius of the second pointer sprinkler, is a distance between two circle centers, is a first auxiliary variable, is a second auxiliary variable, is a unit vector of a coordinate point direction of the first pointer sprinkler to the second pointer sprinkler in a two-dimensional coordinate system;

[0027] coordinates of the intersection point of the line connecting the two circle centers and the line connecting the two circle intersection points are:

[0028]

[0029] wherein, is a horizontal coordinate of the intersection point of the line connecting the two circle centers and the line connecting the two circle intersection points, is a vertical coordinate of the intersection point of the line connecting the two circle centers and the line connecting the two circle intersection points, and the intersection point of the running tracks of the two pointer sprinklers is and .

[0030] According to the pointer sprinkler anti-collision method provided by the application, the S5 step further comprises the following steps.

[0031] S51: calculating a running angle of the pointer sprinkler that is most likely to collide according to the first time;

[0032] S52: judging whether the running angle is in the collision zone, if the running angle is in the collision zone, calculating an angle difference between the pointer sprinkler that is most likely to collide and the boundary of the collision zone and an angle difference between the operated pointer sprinkler and the boundary of the collision zone, and taking the pointer sprinkler with the smaller angle difference as the pointer sprinkler that enters the collision zone later;

[0033] S53: calculating a time when the pointer sprinkler that enters the collision zone later runs to the boundary of the collision zone, obtaining a second time, and using the second time to schedule a shutdown instruction of the pointer sprinkler that enters the collision zone later;

[0034] S54: calculating a time when the pointer sprinkler that enters the collision zone earlier runs to the boundary of the collision zone, obtaining a third time, adding the second time and the third time to obtain a fourth time, and using the fourth time to schedule a recovery instruction of the pointer sprinkler that enters the collision zone later.

[0035] According to the pointer type sprinkling machine anti-collision method provided by the application, the time required for the pointer type sprinkling machine to run at a certain angle is calculated according to all the running states, running intensities and the angle at which the pointer type sprinkling machine needs to run in the device and the collision information, and the calculation expression is:

[0036]

[0037] wherein, is the time required for the pointer type sprinkling machine to run at a certain angle, is the time required for the pointer type sprinkling machine to run at the maximum running intensity once for the set angle at which the pointer type sprinkling machine can run, is the running intensity of the pointer type sprinkling machine, is the angle at which the pointer type sprinkling machine is expected to run, is the angle at which the pointer type sprinkling machine is set to run.

[0038] The application further provides a pointer type sprinkling machine anti-collision system for executing the pointer type sprinkling machine anti-collision method according to any one of the preceding aspects, comprising:

[0039] an adding module, which adds the central point longitude and latitude coordinates, the device radius, the device id and the full-speed running period of each pointer type sprinkling machine in a farm;

[0040] a constructing module, which calculates the collision information of each pair of pointer type sprinkling machines according to the central point longitude and latitude coordinates and the device radius of the pointer type sprinkling machines, and constructs a collision table according to the collision information;

[0041] an obtaining module, which obtains the collision area table of the operated pointer type sprinkling machine according to the device id from the collision table when the running state and / or the running intensity of the operated pointer type sprinkling machine changes;

[0042] a calculating module, which traverses the collision information of all the pointer type sprinkling machines in the collision area table, confirms the fastest-reached collision area boundary and the corresponding fastest-possible-collision pointer type sprinkling machine, calculates the time required for the operated pointer type sprinkling machine to run to the collision area boundary according to the collision area boundary and the full-speed running period of the pointer type sprinkling machine, and obtains a first time;

[0043] an updating module, which calculates the running angle of the fastest-possible-collision pointer type sprinkling machine according to the first time, judges the sequence in which the operated pointer type sprinkling machine and the fastest-possible-collision pointer type sprinkling machine reach the collision area boundary according to the running angle, and updates the shutdown and recovery instructions of the pointer type sprinkling machine according to the sequence in which the pointer type sprinkling machines reach the collision area boundary;

[0044] a global updating module, which obtains the scheduling instructions of all the pointer type sprinkling machines that need to be scheduled.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] The above one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects:

[0049] 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.

[0050] 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

[0051] 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.

[0052] Figure 1 The present invention provides a flow chart of a method for preventing a pointer-type sprinkler from collision.

[0053] Figure 2 The present invention provides a schematic structural diagram of a pointer-type sprinkler anti-collision system.

[0054] Figure 3 It is a structural schematic diagram of the electronic device provided by the present invention.

[0055] Reference numerals:

[0056] 101, adding module; 102, building module; 103, obtaining module; 104, calculating module; 105, updating module; 106, global updating module; 201, processor; 202, communication bus; 203, communication interface; 204, memory. DETAILED DESCRIPTION

[0057] To make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work belong to the protection scope of the present application. The following embodiments are used to illustrate the present application, but cannot be used to limit the scope of the present application.

[0058] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example" or "some examples" means that the specific features, structures, materials or characteristics described in combination with the embodiment or example are contained in at least one embodiment or example of the embodiments of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the skilled in the art can combine and combine the different embodiments or examples described in the present application and the features of the different embodiments or examples without contradiction.

[0059] The technical solutions in the embodiments of the present application will be described below in combination with Figures 1 to 3 A pointer type sprinkler anti-collision method, system, device, product and medium are described.

[0060] As Figure 1 shown, a pointer type sprinkler anti-collision method comprises:

[0061] S1: adding the central point latitude and longitude coordinates, the device radius, the device id and the full speed running period of the pointer type sprinkler for each pointer type sprinkler in the farm;

[0062] In some specific embodiments of the present application, the central point latitude and longitude coordinates, the device radius, the device id and the full speed running period of the pointer type sprinkler are added for each pointer type sprinkler in the pointer type sprinkler management system in the same farm.

[0063] The pointer type sprinkling machine comprises a data acquisition module, a communication module and a control execution module, the data acquisition module acquires the running state information of the pointer type sprinkling machine in real time, the running state information comprises real-time position, running state, running intensity, water pump opening state, fertilizer machine opening state and tail gun opening state; the communication module realizes real-time data communication between the pointer type sprinkling machine and the scheduling server; after receiving the scheduling server data, the control execution module realizes actual control on each component of the pointer type sprinkling machine.

[0064] The scheduling server comprises a data acquisition instruction, a pointer type sprinkling machine construction instruction and a polling instruction, the data acquisition instruction is responsible for acquiring the data reported by the pointer type sprinkling machine; the pointer type sprinkling machine construction instruction calculates the instructions of each pointer type sprinkling machine according to the data reported by the pointer type sprinkling machine using a predetermined method and saves the instructions to a database; the polling instruction polls the pointer type sprinkling machine instructions of the database and issues the instructions.

[0065] S2: calculate the collision information of two pointer type sprinkling machines according to the central point longitude and latitude coordinates of the pointer type sprinkling machine and the equipment radius, and construct a collision table according to the collision information;

[0066] S21: calculate the center distance of two pointer type sprinkling machines, and judge whether the two pointer type sprinkling machines will collide according to the center distance;

[0067] The center distance of the two pointer type sprinkling machines is calculated according to the secant formula;

[0068] The calculation expression is:

[0069]

[0070]

[0071]

[0072] wherein, is a distance intermediate variable, is the latitude of the first pointer type sprinkling machine, is the latitude of the second pointer type sprinkling machine, is the latitude difference of the two pointer type sprinkling machines, , is the longitude of the first pointer type sprinkling machine, is the longitude of the second pointer type sprinkling machine, is the longitude difference of the two pointer type sprinkling machines, , is an angle intermediate variable, is the center distance of the two pointer type sprinkling machines, is the radius of the earth.

[0073] S22: If no collision occurs, no processing is needed, and if a collision occurs, the longitude and latitude coordinates of the intersection point of the running tracks of the two pointer-type sprinklers are calculated;

[0074] S221: The longitude difference and latitude difference of the two pointer-type sprinklers are calculated, the longitude difference and latitude difference are converted into radians, the longitude difference radian and the latitude difference radian are obtained;

[0075] S222: The two-dimensional coordinates of the second pointer-type sprinkler are calculated based on the longitude difference radian and the latitude difference radian;

[0076]

[0077]

[0078] wherein, is the two-dimensional horizontal coordinate of the second pointer-type sprinkler, is the longitude difference radian, is the latitude of the first pointer-type sprinkler, is the two-dimensional vertical coordinate of the second pointer-type sprinkler, is the latitude difference radian, is the radius of the earth;

[0079] S223: The distance between the two center points of the circles is calculated, and a unit vector is calculated based on the distance between the two center points; the coordinates of the intersection point of the line connecting the two center points and the line connecting the intersection points of the two circles are calculated based on the unit vector; the intersection point of the running tracks of the two pointer-type sprinklers is calculated based on the coordinates of the line connecting the two center points and the line connecting the intersection points of the two circles, and the calculation expression is:

[0080]

[0081]

[0082]

[0083]

[0084] wherein, is the radius of the first pointer-type sprinkler, is the radius of the second pointer-type sprinkler, is the distance between the two center points of the circles, is a first auxiliary variable, is a second auxiliary variable, is the unit vector of the first pointer-type sprinkler to the second pointer-type sprinkler in the direction of the coordinate point in the two-dimensional coordinate system;

[0085] The coordinates of the intersection point of the line connecting the two center points and the line connecting the intersection points of the two circles are:

[0086]

[0087] wherein, is the horizontal coordinate of the intersection point of the line connecting the two circle centers and the line connecting the two circle intersection points, is the vertical coordinate of the intersection point of the line connecting the two circle centers and the line connecting the two circle intersection points, the intersection point of the operating trajectory of the two pivot sprinkler machines and .

[0088] S23: Calculate the angle between the line connecting the intersection point of the operating trajectory and the center point of the pivot sprinkler machine and the north direction;

[0089] Use the atan2 function to calculate the radian representation of the angle, convert the result to degree representation (multiply ), the result obtained is in the interval [-180, 180], use to convert it to a value in [0, 360], wherein mod is the remainder function.

[0090] S24: Save the angle between the line connecting the intersection point of the operating trajectory and the center point of the pivot sprinkler machine and the north direction to the collision table.

[0091] S3: When the operating state and / or operating intensity of the pivot sprinkler machine changes, obtain the collision area table of the pivot sprinkler machine from the collision table according to the device id;

[0092] The state change of the pivot sprinkler machine (Pivot) has the following cases:

[0093] The stop state only adjusts , the operating state only adjusts , the operating state adjusts Opt (device operating state, referred to as Opt) stop (allowing to contain Percent), the operating state adjusts Opt reverse (allowing to contain Percent), the stop state changes Opt forward or reverse (allowing to contain Percent).

[0094] Pivot stop state adjustment Percent:

[0095] Directly issue a command.

[0096] Pivot operating state only adjusts Percent:

[0097] Check whether it is possible to collide with other pivots in the system;

[0098] If not, directly issue an adjustment instruction and end;

[0099] If possible, check whether there is expected scheduling information;

[0100] If not, directly issue an instruction and end;

[0101] If there is, get the scheduling instruction of the Pivot, recalculate the scheduling instruction time;

[0102] Get all the scheduling instructions in the current system, and update the scheduling time synchronously.

[0103] Pivot running state adjustment Opt stop:

[0104] Check if it belongs to the stop instruction through the collision area, if so, update the next scheduling instruction and end;

[0105] If not, check if there is a possibility of collision with other Pivot in the system, if not, issue a stop instruction and end;

[0106] If possible, check if the stop angle is in a certain collision area;

[0107] If not in the collision area, delete the scheduling instruction related to the Pivot;

[0108] If in the collision area, delete the scheduling instruction of the Pivot, get the scheduling instruction of other Pivot related to the Pivot, and cancel the recovery operation;

[0109] Issue a stop instruction and end.

[0110] Pivot running state adjustment Opt reverse, stop state change Opt forward or reverse:

[0111] Check if there is a possibility of collision with other Pivot in the system;

[0112] If not possible, issue a running instruction and end;

[0113] If possible, traverse the collision information in the system to calculate the scheduling instruction.

[0114] S4: Traverse the collision information of all pointer sprinklers in the collision area table, confirm the fastest arriving collision area boundary and the corresponding fastest possible collision pointer sprinkler, calculate the time for the operated pointer sprinkler to run to the collision area boundary according to the collision area boundary and the full-speed running period of the pointer sprinkler, and obtain the first time.

[0115] S5: Calculate the running angle of the fastest possible collision pointer sprinkler according to the first time, judge the order of the operated pointer sprinkler and the fastest possible collision pointer sprinkler to reach the collision area boundary according to the running angle, and update the stop and recovery instructions of the pointer sprinkler according to the order of reaching the collision area boundary;

[0116] S51: Calculate the running angle of the fastest possible collision pointer sprinkler according to the first time;

[0117] S52: If the running angle is in the collision zone, calculate the angle difference between the fastest possible collision of the pointer sprinkler and the boundary of the collision zone and the angle difference between the operated pointer sprinkler and the boundary of the collision zone, and take the pointer sprinkler with the smaller angle difference as the pointer sprinkler entering the collision zone later;

[0118] S53: Calculate the time for the pointer sprinkler entering the collision zone later to run to the boundary of the collision zone, obtain the second time, and use the second time to schedule the pointer sprinkler shutdown instruction;

[0119] S54: Calculate the time for the pointer sprinkler entering the collision zone earlier to run to the boundary of the collision zone, obtain the third time, add the second time and the third time to obtain the fourth time, and use the fourth time to schedule the pointer sprinkler recovery instruction.

[0120] Save the obtained pointer sprinkler shutdown instruction and pointer sprinkler recovery instruction to the scheduling information in the cache for persistent operation.

[0121] The time required for the pointer sprinkler to run at a certain angle is calculated according to all the running states, running intensities, and angles at which the pointer sprinkler needs to run in the device and collision information, and the calculation expression is:

[0122]

[0123] wherein, is the time required for the pointer sprinkler to run at a certain angle, is the time required for the pointer sprinkler to run at the maximum running intensity once the settable running angle, is the running intensity of the pointer sprinkler, is the angle at which the pointer sprinkler is expected to run, is the settable running angle of the pointer sprinkler.

[0124] S6: Repeat steps S3 to S5 to obtain the scheduling instructions of all the pointer sprinklers that need to be scheduled.

[0125] If the running instruction calculated by the pointer sprinkler management system has a shutdown time, then according to the volume of the water supply pipe and the outlet flow, the time for the water pump and the fertilizer pump to be turned off in advance is roughly calculated to avoid surface runoff caused by the simultaneous shutdown of the pointer sprinkler and the water pump;

[0126] The water pump shutdown time calculation expression is:

[0127]

[0128] The fertilizer pump shutdown time is 5 minutes earlier than the water pump shutdown time to avoid the fertilizer from blocking the nozzle.

[0129] When a pointer sprinkler is added or deleted in the pointer sprinkler management system, or the longitude and latitude coordinates of the center point of any pointer sprinkler change, or the length of the device changes, the collision table needs to be reconstructed, and the running instructions of each pointer sprinkler in the system are reconstructed according to the new collision table.

[0130] When the running state and running intensity of the pointer sprinkler in the system change, or the minimum running period time parameter is changed, or the outlet flow parameter is changed, the running instructions need to be reconstructed.

[0131] As shown in Figure 2 A pointer sprinkler anti-collision system for executing the above-mentioned pointer sprinkler anti-collision method includes:

[0132] The adding module 101 adds the longitude and latitude coordinates of the center point, the device radius, the device id, and the full-speed running period of the pointer sprinkler for each pointer sprinkler in the farm.

[0133] The constructing module 102 calculates the collision information of each pair of pointer sprinklers according to the longitude and latitude coordinates of the center point and the device radius of the pointer sprinklers, and constructs a collision table according to the collision information.

[0134] The obtaining module 103 obtains the collision zone table of the pointer sprinkler to be operated from the collision table according to the device id when the running state and / or running intensity of the pointer sprinkler to be operated changes.

[0135] The calculating module 104 traverses the collision information of all pointer sprinklers in the collision zone table, confirms the fastest-reached collision zone boundary and the corresponding fastest-possible-colliding pointer sprinkler, calculates the time for the pointer sprinkler to be operated to run to the collision zone boundary according to the collision zone boundary and the full-speed running period of the pointer sprinkler, and obtains a first time.

[0136] The updating module 105 calculates the running angle of the fastest-possible-colliding pointer sprinkler according to the first time, judges the order of the pointer sprinkler to be operated and the fastest-possible-colliding pointer sprinkler to reach the collision zone boundary according to the running angle, and updates the shutdown and recovery instructions of the pointer sprinkler according to the order of reaching the collision zone boundary.

[0137] The global updating module 106 obtains the scheduling instructions of all pointer sprinklers that need to be scheduled.

[0138] Through the cooperative work of the above-mentioned modules, when multiple pointer sprinklers work cooperatively, the complex situation that two or more pointer sprinklers intersect can be comprehensively analyzed, the optimization of irrigation uniformity and running efficiency can be realized, and device collision and resource waste can be avoided.

[0139] Figure 3 An example of a schematic diagram of a physical structure of an electronic device is shown in Figure 3 The electronic device can include a processor 201, a communications interface 203, a memory 204, and a communications bus 202, wherein the processor 201, the communications interface 203, and the memory 204 communicate with each other through the communications bus 202. The processor 201 can invoke a logical instruction in the memory 204 to execute a pointer-type sprinkler anti-collision method.

[0140] In addition, the logical instruction in the memory 204 described above can be implemented in the form of a software functional unit and sold or used as an independent product, and can be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the present application or the part of the technical solutions that essentially contribute to the prior art can be embodied in the form of a software product, which is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the various embodiments of the present application. The aforementioned storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0141] On the other hand, the present application 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-mentioned methods.

[0142] In yet another aspect, the present application also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and the computer program is executed by a processor to implement a pointer-type sprinkler anti-collision method provided by the above-mentioned methods.

[0143] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed to multiple network units. Part or all of the modules can be selected to achieve the purposes of the embodiments according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0144] Through the description of the above embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software and the necessary general hardware platform, and of course can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0145] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

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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