Path determination method and apparatus, device and computer storage medium

Abstract

A path determination method and apparatus, a device and a computer storage medium. The path determination method comprises: acquiring trajectory information and the sprinkling path length of a sprinkler, the trajectory information comprising information of paths that have been sprinkled and the sprinkling frequency of the paths that have been sprinkled (S110); selecting, from preset paths, a preset number of paths having a small sprinkling frequency, so as to obtain first paths (S120); selecting second paths having the shortest distance from the position of the sprinkler to starting points of the first paths, and using the first paths and the second paths as third paths (S130); selecting the third paths of which the path length is not greater than the sprinkling path length, so as to obtain fourth paths (S140); using a first path length weight, a first sprinkling frequency weight, the path length of the fourth paths, and the sprinkling frequency of the first paths to calculate a first weighted average of the fourth paths (S150); and determining a fourth path having a minimum first weighted average as a target path (S160). In this way, the situation that there is a path not sprinkled is avoided, all paths in an area are comprehensively covered, and water resources are saved.

Description

Path determination method, device, equipment and computer storage medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure is based on and claims the priority of the Chinese patent application with application number 202311686739.8 and application date December 8, 2023. The entire content of the Chinese patent application is hereby incorporated into this disclosure as a reference. Technical Field

[0003] The present disclosure belongs to the field of vehicle networking technology, and in particular relates to a path determination method, device, equipment, and computer storage medium. Background Art

[0004] There are many different types of sprinkler trucks, commonly used for road cleaning and watering trees and green belts. Sprinkler trucks typically spray water along a planned route. Each truck has a specific area of ​​responsibility, which can include multiple routes. The truck then sprays water along the routes within its designated area.

[0005] Prior art approaches plan watering routes based on the knowledge of the routes to be watered. The length of the available watering routes is determined based on the water volume data of the sprinkler truck. Multiple watering routes are then determined, and corresponding destinations are obtained. The shortest watering route to these destinations is then selected for watering. However, this method of determining watering routes can result in some routes being watered repeatedly while others are not. This not only fails to fully cover all routes within the assigned area, but also wastes water resources.

[0006] Application Contents

[0007] The embodiments of the present disclosure provide a path determination method, apparatus, device, and computer storage medium. The method plans a path based on the number of watering times and the length of the path that can be watered, calculates a weighted average based on the path length and the number of watering times, and selects the path with the smallest weighted average for watering. This prevents paths from being left unwatered, thereby fully covering all paths in the area and conserving water resources.

[0008] In a first aspect, an embodiment of the present disclosure provides a method for determining a path, including:

[0009] Obtain the trajectory information of the on-board terminal device in the sprinkler truck and the length of the sprinkler truck's watering path. The trajectory information includes the information of the watered path and the number of watering times along the watered path.

[0010] Selecting a preset number of paths with fewer watering times from the preset paths to obtain a first path, where the preset path is a path corresponding to the sprinkler truck, including a watered path and an unwatered path;

[0011] Select the second path that is shortest from the location of the sprinkler truck to the starting point of the first path, and use the first path and the second path as the third path;

[0012] Selecting a third path whose path length is not greater than the length of the sprinkler path to obtain a fourth path;

[0013] Calculating a first weighted average of the fourth path using the first path length weight, the first watering times weight, the path length of the fourth path, and the watering times of the first path;

[0014] The fourth path with the smallest first weighted average is determined as the target path.

[0015] In one possible embodiment, obtaining trajectory information of an onboard terminal device in a sprinkler truck includes:

[0016] Receive location information of the onboard terminal device in the sprinkler truck;

[0017] Generate trajectory information based on location information.

[0018] In one possible embodiment, obtaining the length of the watering path of the sprinkler truck includes:

[0019] Get the water volume data of the sprinkler truck;

[0020] The length of the sprinkler path that can be sprinkled by the sprinkler truck is calculated based on the relationship between water volume and path length and the water volume data of the sprinkler truck.

[0021] In one possible embodiment, the present invention further includes:

[0022] When the path lengths of the third paths are all greater than the length of the watering path, the maximum longitude and latitude and the minimum longitude and latitude of the third paths are respectively extracted;

[0023] Find the water adding point in the rectangular area enclosed by the maximum longitude and latitude and the minimum longitude and latitude respectively;

[0024] Select the shortest path from the sprinkler truck to the water filling point, select the shortest path from the water filling point to the starting point of the first path, and use the shortest path from the sprinkler truck to the water filling point, the shortest path from the water filling point to the starting point of the first path, and the first path as the fifth path;

[0025] Select the fifth path with the shortest path length in each rectangular area as the sixth path, and use the water adding point in the sixth path as the water adding point on the way;

[0026] Calculating a second weighted average of the sixth path using the second path length weight, the second watering times weight, the path length of the sixth path, and the watering times of the first path;

[0027] The sixth path with the smallest second weighted average is determined as the target path.

[0028] In one possible embodiment, the method further includes:

[0029] Get the location information of the water filling point.

[0030] In one possible embodiment, the present invention further includes:

[0031] When the position of the sprinkler truck deviates from the target path, target information is sent to the on-board terminal device of the sprinkler truck.

[0032] In one possible embodiment, the present invention further includes:

[0033] Receive user display input;

[0034] Display the track information of the sprinkler truck.

[0035] In a second aspect, an embodiment of the present disclosure provides a path determination device, including:

[0036] An acquisition module is used to obtain the trajectory information of the on-board terminal device in the sprinkler truck and the length of the sprinkler truck's watering path. The trajectory information includes the information of the sprinkler path and the number of times the sprinkler path has been sprinkled;

[0037] A selection module is used to select a preset number of paths with fewer watering times from the preset paths to obtain a first path, where the preset path is a path corresponding to the sprinkler truck, including a watered path and an unwatered path;

[0038] The selection module is further used to select a second path that is shortest from the location of the sprinkler truck to the starting point of the first path, and use the first path and the second path as the third path;

[0039] The selection module is further configured to select a third path whose length is not greater than the length of the sprinkleable path to obtain a fourth path;

[0040] a calculation module, configured to calculate a first weighted average of the fourth path by using the first path length weight, the first watering times weight, the path length of the fourth path, and the watering times of the first path;

[0041] The determining module is configured to determine the fourth path with the smallest first weighted average as the target path.

[0042] In a third aspect, an embodiment of the present disclosure provides an electronic device, the device comprising:

[0043] a processor and a memory storing computer program instructions;

[0044] When the processor executes the computer program instructions, any one of the above methods for determining the path is implemented.

[0045] In a fourth aspect, an embodiment of the present disclosure provides a computer storage medium, on which computer program instructions are stored. When the computer program instructions are executed by a processor, a method for determining a path of any one of the above items is implemented.

[0046] In a fifth aspect, an embodiment of the present disclosure provides a computer program product. When instructions in the computer program product are executed by a processor of an electronic device, the electronic device is enabled to execute any one of the above-mentioned path determination methods.

[0047] The path determination method, device, equipment and computer storage medium of the embodiments of the present invention obtain the trajectory information of the on-board terminal device in the sprinkler truck and the length of the sprinkler truck's sprinkler path, the trajectory information including the sprinkled path information and the number of sprinklers on the sprinkled path; select a preset number of paths with a smaller number of sprinklers from the preset paths to obtain a first path, the preset path is the path corresponding to the sprinkler truck, including the sprinkled path and the unsprinkled path; select the second path with the shortest distance from the position of the sprinkler truck to the starting point of the first path, and use the first path and the second path as the third path; select the third path with a path length not greater than the length of the sprinkler path to obtain a fourth path; use the first path length weight, the first number of sprinklers weight, the path length of the fourth path and the number of sprinklers on the first path to calculate the first weighted average of the fourth path; determine the fourth path with the smallest first weighted average as the target path. In this way, the path is planned according to the number of watering times and the length of the path that can be watered, the weighted average is calculated according to the path length and the number of watering times, and the path with the smallest weighted average is selected for watering. There will be no situation where there are paths without watering. All paths in the area are fully covered and water resources are saved. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0049] FIG1 is a schematic structural diagram of a path planning system provided by one embodiment of the present disclosure;

[0050] FIG2 is a flow chart of a method for determining a path according to another embodiment of the present disclosure;

[0051] FIG3 is a flow chart of a method for determining a path according to another embodiment of the present disclosure;

[0052] FIG4 is a flow chart of a method for determining a path according to another embodiment of the present disclosure;

[0053] FIG5 is a schematic structural diagram of a path determination device provided by yet another embodiment of the present disclosure;

[0054] FIG6 is a schematic structural diagram of an electronic device provided by yet another embodiment of the present disclosure. DETAILED DESCRIPTION

[0055] The features and exemplary embodiments of various aspects of the present disclosure will be described in detail below. In order to make the purposes, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present disclosure, rather than to limit the present disclosure. For those skilled in the art, the present disclosure can be implemented without the need for some of these specific details. The following description of the embodiments is merely to provide a better understanding of the present disclosure by illustrating examples of the present disclosure.

[0056] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, the elements defined by the phrase "comprising..." do not exclude the presence of other identical elements in the process, method, article, or device comprising the elements.

[0057] There are many different types of sprinkler trucks, commonly used for road cleaning and watering trees and green belts. Sprinkler trucks typically spray water along a planned route. Each truck has a specific area of ​​responsibility, which can include multiple routes. The truck then sprays water along the routes within its designated area.

[0058] Prior art approaches plan watering routes based on the knowledge of the routes to be watered. The length of the available watering routes is determined based on the water volume data of the sprinkler truck. Multiple watering routes are then determined, and corresponding destinations are obtained. The shortest watering route to these destinations is then selected for watering. However, this method of determining watering routes can result in some routes being watered repeatedly while others are not. This not only fails to fully cover all routes within the assigned area, but also wastes water resources.

[0059] In order to solve the problems in the prior art, embodiments of the present disclosure provide a method, apparatus, device, and computer storage medium for determining a path.

[0060] The path determination method provided by the embodiment of the present disclosure is applied to the path planning system. As shown in Figure 1, the path planning system includes a central server, an on-board intelligent terminal, a water level sensor and a narrowband Internet of Things (NB-IOT) terminal. The sprinkler truck is equipped with an on-board intelligent terminal and a water level sensor, and an NB-IOT terminal is set at the water filling point. The on-board intelligent terminal includes a high-precision positioning module, an alarm module, a navigation broadcast module, a communication module, a display screen and a voice module. The central server includes a data storage and processing module, a road network analysis library, a path planning module, a navigation deviation alarm module and a hotspot analysis module. The high-precision positioning module is used for real-time positioning of the sprinkler truck; the communication module is used to transmit data with the central server through a cellular network; the alarm module is used to receive alarm information of deviation from the path and remind the driver; the display screen is used to display information of the currently planned target path; the navigation broadcast module is used to voice broadcast information of the currently planned target path; and the voice module is used for voice intercom between the driver and the central server. The data storage and processing module processes and stores data related to the sprinkler truck, including route data, data on the binding relationship between the sprinkler truck and the route, route watering data, and target route data. The road network analysis library extracts route data for a specified area and route data contained in the sprinkler truck's trajectory. The route planning module plans the sprinkler truck's route based on data such as the sprinkler truck's location, water volume, and the number of waterings along the route. The navigation deviation alarm module compares the sprinkler truck's current position with the target route and issues an alarm if the sprinkler truck deviates from the target route. The hotspot analysis system periodically analyzes sprinkler truck operation data in response to user input and displays non-hotspot areas. A water level sensor is installed at the sprinkler truck's water tank to monitor the water level in real time and reports this data to a central server via the vehicle's intelligent terminal's communication module. NB-IoT (Narrowband Internet of Things) terminals are installed at water filling points. NB-IoT terminals offer low power consumption, low cost, and wide coverage, and can report the location of water filling points to a central server. The central server can be a cloud platform.

[0061] The following first introduces the method for determining a path provided by an embodiment of the present disclosure. FIG2 shows a flow chart of the method for determining a path provided by an embodiment of the present disclosure.

[0062] As shown in FIG2 , the path determination method provided by the embodiment of the present disclosure includes the following steps.

[0063] S110. Obtaining the trajectory information of the on-board terminal device in the sprinkler truck and the length of the sprinkler truck's watering path, wherein the trajectory information includes information of the sprinkler path and the number of times the sprinkler path has been sprinkled.

[0064] In some embodiments, the trajectory information may be a collection of location information, including longitude and latitude information, which may be obtained from a road network analysis library. The vehicle-mounted terminal device refers to a vehicle-mounted intelligent terminal, and the cloud platform obtains the trajectory information of the vehicle-mounted terminal device in the sprinkler truck and the length of the sprinkler truck's waterable path. The trajectory information includes the watered path information and the number of times the watered path has been watered. The watered path information may include the location information of the watered path, etc. It should be noted that the number of times a path that has not been watered is 0, and the number of times the path has been watered is +1 each time the path is watered.

[0065] In some embodiments, the on-board terminal device on the sprinkler truck will report location data to the cloud platform. When the sprinkler truck completes the operation of the previous target path, the cloud platform obtains the trajectory information of the on-board terminal device in the sprinkler truck and the length of the sprinkler truck's watering path.

[0066] S120 , selecting a preset number of paths with fewer watering times from the preset paths to obtain a first path, where the preset path is a path corresponding to the sprinkler truck, including paths that have been watered and paths that have not been watered.

[0067] In some embodiments, the preset number is determined in advance. The preset path is the path within the area that the sprinkler is responsible for, and is the path corresponding to the sprinkler, including the path that has been sprinkled and the path that has not been sprinkled. The number of times the preset paths are sprinkled is compared, and they are sorted in descending order according to the number of times they are sprinkled. The paths with the smallest number of sprinklers are taken out to obtain the first path. For example, the preset path is recorded as (r1, r2, r3...r n ), the number of watering times of the preset path is recorded as F=(f1,f2,f3...f n ), where each element in F represents the number of watering times for the corresponding path, such as f n is the corresponding path r n The number of watering times is n, which is an integer greater than or equal to 1. When the preset number is 3, the first path can be recorded as (r1, r2, r3), and the corresponding watering times relationship can be f1 <f2<f3。

[0068] In some embodiments, before obtaining the sprinkler truck trajectory information, a sprinkler responsibility area is delineated on the map for the sprinkler truck, a preset path of the specified area is extracted from the road network analysis library, the sprinkler truck and the preset path are bound, and the binding relationship data is stored in the data storage and processing module of the cloud platform.

[0069] S130: Select a second path that is shortest from the location of the sprinkler truck to the starting point of the first path, and use the first path and the second path as a third path.

[0070] In some embodiments, a shortest path algorithm is used to obtain the shortest path from the sprinkler truck's position to the starting point of the first path. The shortest path algorithm can be a Dijkstra algorithm or a Bellman-Ford algorithm. The shortest path from the sprinkler truck's position to the starting point of the first path is used as the second path, and the first path and the second path are used as the third path. As an example, when the preset number is 3, the corresponding first path can be recorded as (r1, r2, r3), and the path length of the third path can be recorded as (L1, L2, L3). Here, (L1, L2, L3) represents the total length of the first path and the second path. Among them, L1 represents the total length of the shortest path from the sprinkler truck's position to the starting point of path r1; L2 represents the total length of the shortest path from the sprinkler truck's position to the starting point of path r2; L3 represents the total length of path r3 and the shortest path from the sprinkler truck's position to the starting point of path r3. When the sprinkler truck has finished spraying the first path, the first path is completely sprayed, and the path to the first path (the second path) is also completely sprayed.

[0071] S140: Select a third path whose length is not greater than the length of the watering path to obtain a fourth path.

[0072] In some embodiments, the length of the water-sprinkling path is compared with the length of the third path, and the third path having a path length not greater than the length of the water-sprinkling path is selected to obtain the fourth path.

[0073] S150 , calculating a first weighted average of the fourth path using the path length weight, the watering times weight, the path length of the fourth path, and the watering times of the first path.

[0074] The path length weight in S150 is the weight corresponding to the path length of the fourth path. To distinguish it from other path length weights, it can be called the first path length weight. The watering times weight in S150 is the weight corresponding to the watering times of the first path. To distinguish it from other watering times weights, it can be called the first watering times weight.

[0075] As an example, when there is a fourth path that satisfies the condition L i ≤L 可洒, i∈(1,2,3), it means that at least one of the three paths can complete the operation without adding water to the sprinkler truck. By assigning a weight a to the path length of the fourth path and a weight b to the number of watering times of the first path corresponding to the fourth path, and using formula (1) to calculate the weighted average of each fourth path, the first weighted average of the fourth path can be obtained. Here, the first weighted average includes the weighted average of at least one fourth path. Formula (1) is as follows:

[0076] R=L i *a+f i *b (1)

[0077] Where a represents the first path length weight, and b represents the first watering times weight. For example, a = 0.6, b = 0.4. Where R represents the first weighted average, L i represents the path length of the fourth path i, f o L represents the number of watering times of the first path i. 可洒 represents the length of the watering path. Wherein, i can be an integer greater than or equal to 1 and less than or equal to n.

[0078] S160: Determine the fourth path with the smallest first weighted average as the target path.

[0079] In some embodiments, the fourth path with the smallest first weighted average is selected as the target path for this operation. The target path corresponds to the first path r i and go to the first path r o The second path of i It can be any path in the preset paths, and i can be an integer greater than or equal to 1 and less than or equal to n.

[0080] In this way, the path is planned according to the number of watering times and the length of the path that can be watered, the weighted average is calculated according to the path length and the number of watering times, and the path with the smallest weighted average is selected for watering. There will be no situation where there is a path without watering. All paths in the area are fully covered and water resources are saved.

[0081] Based on this, in some embodiments, obtaining the trajectory information of the onboard terminal device in the sprinkler truck may include:

[0082] Receive location information of the onboard terminal device in the sprinkler truck;

[0083] Based on the location information, the trajectory information of the on-board terminal device in the sprinkler truck is generated.

[0084] Among them, the trajectory information of the on-board terminal device in the sprinkler truck is the trajectory information of the sprinkler truck.

[0085] In some embodiments, a vehicle-mounted terminal device is installed on the sprinkler truck, and the vehicle-mounted terminal device in the sprinkler truck reports location information to the cloud platform in real time. The location information includes latitude and longitude information.

[0086] In some embodiments, after each watering operation, the cloud platform can generate track information for the sprinkler truck based on the location information. It should be noted that the task is not terminated until the previous target route has been watered. Therefore, when the vehicle is refilling water at a watering point, it is not necessary to search for a new route. The next target route can be planned only after the target route has been watered and the task has terminated.

[0087] In this way, the track information of the sprinkler truck can be obtained based on the real-time position information of the sprinkler truck.

[0088] Based on this, in some embodiments, obtaining the length of the watering path of the sprinkler truck may include:

[0089] Get the water volume data of the sprinkler truck;

[0090] The length of the sprinkler path that can be sprinkled by the sprinkler truck is calculated based on the relationship between water volume and path length and the water volume data of the sprinkler truck.

[0091] In some embodiments, the vehicle terminal device obtains water volume data through the water level sensor installed in the water tank of the sprinkler truck and reports the water volume data to the cloud platform. The cloud platform can calculate the length of the sprinkler truck's watering path L based on the relationship between water volume and path length and the reported water volume data. 可洒 In addition, the cloud platform can also calculate the length L of the operating path of the sprinkler truck when it is full of water. 满洒 Among them, the cloud platform can save the relationship information between water volume and path length.

[0092] In some embodiments, a terminal device can be installed on the water tank of the sprinkler truck to obtain water volume data from the water level sensor through the terminal device on the water tank and send it to the cloud platform. Alternatively, the water volume data can be sent from the terminal device on the water tank to the vehicle terminal device, which then forwards it to the cloud platform.

[0093] In this way, the possible watering path of the sprinkler truck can be accurately determined according to the water volume of the sprinkler truck, and then the target path can be planned.

[0094] Based on this, in some embodiments, as shown in FIG3 , the method may further include S210 to S260 .

[0095] S210 : When the path lengths of all the third paths are greater than the length of the watering path, extract the maximum longitude and latitude and the minimum longitude and latitude of the third path respectively.

[0096] The maximum longitude and latitude of the third path include the maximum longitude value and the maximum latitude value of the third path, and the minimum longitude and longitude of the third path include the minimum longitude value and the minimum latitude value of the third path.

[0097] In some embodiments, if the length of all third paths is greater than the length of the watering path, it means that the sprinkler cannot complete the watering of any third path without adding water, and it is necessary to add watering points as waypoints. Then, for each third path, the maximum longitude and latitude and the minimum longitude and latitude of the third path can be extracted respectively. max ,longitude max ,latitude min ,longitude min ), where latitude max Indicates the maximum latitude value of the third path, longitude max Indicates the maximum longitude value of the third path, latitude min Indicates the minimum latitude value of the third path, longitude min The minimum longitude value of the third path is represented, and based on these four values, four points of the rectangular area are determined, and the four points are connected in sequence to draw the rectangular area.

[0098] S220 , searching for a water adding point in the rectangular area enclosed by the maximum longitude and latitude and the minimum longitude and latitude.

[0099] In some embodiments, for a rectangular area enclosed by the maximum longitude and latitude and the minimum longitude and latitude of each third path, all water-adding points within the rectangular area may be traversed, and the water-adding points may be used as waypoints.

[0100] S230. Select the shortest path from the position of the sprinkler truck to the position of the water adding point, select the shortest path from the position of the water adding point to the starting point of the first path, and use the shortest path from the position of the sprinkler truck to the position of the water adding point, the shortest path from the position of the water adding point to the starting point of the first path, and the first path as the fifth path.

[0101] In some embodiments, for each water-adding point within the rectangular area enclosed by the maximum longitude and latitude and the minimum longitude and latitude of any third path, a shortest path algorithm can be used to obtain the shortest path from the sprinkler truck's location to the water-adding point's location, and the shortest path from the water-adding point's location to the starting point of the first path, respectively. The shortest path from the sprinkler truck's location to the water-adding point's location, the shortest path from the water-adding point's location to the starting point of the first path, and the first path are used as the fifth path, where the first path is the first path corresponding to the third path. For a first path, the number of corresponding fifth paths varies depending on the number of water-adding points. For a first path, the number of water-adding points is equal to the number of fifth paths.

[0102] As an example, the preset number is 3. For the first first path r1 among the three first paths, if there are N water adding points in the rectangular area surrounded by the maximum longitude and latitude and the minimum longitude and latitude of the third path corresponding to r1, then there are N fifth paths corresponding to r1.

[0103] S240 , selecting the fifth path with the shortest path length in each rectangular area as the sixth path, and using the water adding point in the sixth path as the en route water adding point.

[0104] It can be understood that one first path corresponds to one sixth path, that is, the fifth path with the shortest path length selected from all the fifth paths corresponding to the first path.

[0105] As an example, if there are N fifth paths corresponding to the first path r1, the path with the shortest path length can be selected from the N fifth paths as the sixth path. Then, the water addition point in the sixth path is used as the en route water addition point.

[0106] In some embodiments, the path to the watering point needs to meet the following conditions: the path length of the shortest path from the location of the sprinkler to the location of the watering point is less than the length of the sprinkler path; the total length of the shortest path from the location of the watering point to the starting point of the first path and the first path is less than the length of the operable path L when the sprinkler is full of water 满洒 .

[0107] S250: Calculate a second weighted average of the sixth path using the path length weight, the watering times weight, the path length of the sixth path, and the watering times of the first path.

[0108] The path length weight in S250 is the weight corresponding to the path length of the sixth path. To distinguish it from other path length weights, it can be called the second path length weight. The watering times weight in S250 is another weight corresponding to the watering times of the first path. To distinguish it from other watering times weights, it can be called the second watering times weight. In some embodiments, the second weighted average can be calculated using formula (2), which is as follows:

[0109] R'=L i '*c+f i *d (2)

[0110] Where c represents the second path length weight, and d represents the second watering times weight. The second path length weight can be equal to or different from the first path length weight, and the second watering times weight can be equal to or different from the first watering times weight. For example, c = 0.6, d = 0.4. R' represents the second weighted average, L i ' represents the path length of the sixth path i, f i Indicates the number of watering times for the first path i.

[0111] S260: Determine the sixth path with the smallest second weighted average as the target path.

[0112] In some embodiments, the sixth path with the smallest second weighted average is selected as the target path for this operation, and the target path corresponds to the first path r i , and go to the first path r i The shortest path from the location of the sprinkler truck to the location of the water adding point and the shortest path from the location of the water adding point to the starting point of the first path.

[0113] In this way, when the water supply of the sprinkler truck is insufficient, you can find a water filling point to add water, and then carry out the watering operation of the first path after adding water.

[0114] Based on this, in some embodiments, before selecting the shortest path from the location of the sprinkler truck to the location of the water filling point and selecting the shortest path from the location of the water filling point to the starting point of the first path, the method may further include:

[0115] Get the location information of the water filling point.

[0116] In some embodiments, NB-IOT terminals are installed at water filling points, which can report the location information of the water filling points to the cloud platform. The location information includes longitude and latitude information.

[0117] In this way, the route can be planned based on the location information of the water filling point.

[0118] Based on this, in some embodiments, as shown in FIG4 , the method may further include:

[0119] S170. When the position of the sprinkler truck deviates from the target path, target information is sent to the on-board terminal device of the sprinkler truck.

[0120] In some embodiments, the sprinkler truck performs watering operations according to the planned target path. Once it deviates from the navigation route, the cloud platform sends target information to the on-board terminal device to remind the driver that it has deviated from the target path.

[0121] This prevents the sprinkler truck from deviating from the target path.

[0122] Based on this, in some embodiments, the method may further include:

[0123] Receive user display input;

[0124] Display the track information of the sprinkler truck.

[0125] In some embodiments, the cloud platform can respond to the user's display input and display all sprinkler truck trajectory information and target paths on a monthly or quarterly basis, so that users can perform thermal analysis on the map, obtain non-hotspot areas for urban sprinkler irrigation, extract sprinkler road data in non-hotspot areas, and focus on analyzing and tracking relevant road sections, thereby optimizing the binding relationship between sprinkler trucks and paths.

[0126] In this way, it is convenient for users to analyze the path and further optimize the binding relationship between the sprinkler truck and the path.

[0127] It should be noted that, when the sprinkler truck completes the watering operation of the target path, it continues to plan the next target path.

[0128] In the embodiment provided by the present disclosure, based on the historical trajectory information of the sprinkler truck, a path with fewer watering times can be used as one of the input conditions before each operation, so that every path in the responsible area can be covered as much as possible, and the sprinkler truck operation is more balanced. Before each operation of the sprinkler truck, the path planning system can plan an efficient and reasonable path for the next operation based on the sprinkler truck trajectory information, historical watering data, and current vehicle status data. The planned path is made more reasonable through weighted averaging to meet the balance between path length and the number of watering times covered. Based on the Internet of Vehicles, the position of the sprinkler truck can be monitored at any time. If the sprinkler truck deviates from the planned path, an early warning can be issued through the cloud platform.

[0129] Based on the path determination method provided in the above embodiment, the present disclosure also provides an implementation of a path determination device. Please refer to the following embodiment.

[0130] 5 , a path determination device 300 provided in an embodiment of the present disclosure includes:

[0131] An acquisition module 310 is used to obtain the trajectory information of the on-board terminal device in the sprinkler truck and the length of the sprinkler truck's watering path. The trajectory information includes the information of the watered path and the number of watering times of the watered path.

[0132] A selection module 320 is configured to select a preset number of paths with a smaller number of watering times from the preset paths to obtain a first path, where the preset path is a path corresponding to the sprinkler truck, including paths that have been watered and paths that have not been watered;

[0133] The selection module 320 is further configured to select a second path that is shortest from the location of the sprinkler truck to the starting point of the first path, and use the first path and the second path as a third path;

[0134] The selection module 320 is further configured to select a third path having a length not greater than a length of the watering path, to obtain a fourth path;

[0135] a calculation module 330 for calculating a first weighted average of the fourth path using the first path length weight, the first watering times weight, the path length of the fourth path, and the watering times of the first path;

[0136] The determination module 340 is configured to determine the fourth path with the smallest first weighted average as the target path.

[0137] Based on this, in some embodiments, the acquisition module 310 may include:

[0138] A receiving unit, used for receiving location information of a terminal device on board the sprinkler truck;

[0139] The generating unit is used to generate trajectory information according to the position information.

[0140] Based on this, in some embodiments, the acquisition module 310 may include:

[0141] An acquisition unit, used to obtain water volume data of the sprinkler truck;

[0142] The calculation unit is used to calculate the length of the watering path of the sprinkler truck based on the relationship information between the water volume and the path length and the water volume data of the sprinkler truck.

[0143] Based on this, in some embodiments, the apparatus 300 may further include:

[0144] an extraction module, configured to extract the maximum longitude and latitude and the minimum longitude and latitude of the third path respectively when the path lengths of all the third paths are greater than the length of the watering path;

[0145] A search module is used to search for a water adding point within a rectangular area enclosed by the maximum longitude and latitude and the minimum longitude and latitude;

[0146] The selection module 320 is further configured to select the shortest path from the location of the sprinkler truck to the location of the water filling point, select the shortest path from the location of the water filling point to the starting point of the first path, and use the shortest path from the location of the sprinkler truck to the location of the water filling point, the shortest path from the location of the water filling point to the starting point of the first path, and the first path as a fifth path;

[0147] The selection module 320 is further configured to select the fifth path with the shortest path length in each rectangular area as the sixth path, and use the water adding point in the sixth path as the route water adding point;

[0148] The calculation module 330 is further configured to calculate a second weighted average of the sixth path using the second path length weight, the second watering times weight, the path length of the sixth path, and the watering times of the first path;

[0149] The determination module 340 is further configured to determine the sixth path with the smallest second weighted average as the target path.

[0150] Based on this, in some embodiments, the acquisition module 310 is further used to obtain location information of the water adding point.

[0151] Based on this, in some embodiments, the apparatus 300 may further include:

[0152] The sending module is used to send target information to the on-board terminal device of the sprinkler truck when the position of the sprinkler truck deviates from the target path.

[0153] Based on this, in some embodiments, the apparatus 300 may further include:

[0154] A receiving module, configured to receive a user's display input;

[0155] The display module is used to display the track information of the sprinkler truck.

[0156] The various modules of the path determination device provided in the embodiment of the present disclosure can implement the functions of the various steps of the path determination method provided above and achieve the corresponding technical effects. For the sake of brevity, they will not be repeated here.

[0157] Based on the same inventive concept, an embodiment of the present disclosure further provides an electronic device.

[0158] FIG6 shows a schematic diagram of the hardware structure of an electronic device provided by an embodiment of the present disclosure.

[0159] The electronic device may include a processor 401 and a memory 402 storing computer program instructions.

[0160] In some embodiments, the processor 401 may include a central processing unit (CPU) or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present disclosure.

[0161] Memory 402 may include a large capacity memory for data or instructions. By way of example and not limitation, memory 402 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 402 may include removable or non-removable (or fixed) media. Where appropriate, memory 402 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, memory 402 is a non-volatile solid-state memory.

[0162] The memory may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Thus, generally, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer-executable instructions, and in response to the software being executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to an aspect of the present disclosure.

[0163] The processor 401 reads and executes computer program instructions stored in the memory 402 to implement any one of the path determination methods in the above embodiments.

[0164] In one example, the electronic device may further include a communication interface 403 and a bus 410. As shown in FIG6, the processor 401, the memory 402, and the communication interface 403 are connected via the bus 410 and communicate with each other.

[0165] The communication interface 403 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present disclosure.

[0166] The bus 410 includes hardware, software, or both that couples components of the electronic device to each other. By way of example and not limitation, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Linear Predictive Coding (LPC) bus, a memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (Peripheral Component Interconnect-X, PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VESA Local Bus, VLB) bus, or other suitable buses or a combination of two or more of these. Where appropriate, the bus 410 may include one or more buses. Although the embodiments of the present disclosure describe and illustrate a specific bus, the present disclosure contemplates any suitable bus or interconnect. The electronic device can execute the path determination method of the embodiments of the present disclosure, thereby implementing the above-mentioned path determination method.

[0167] In addition, in conjunction with the path determination method in the above embodiments, the present disclosure can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when the computer program instructions are executed by a processor, any one of the path determination methods in the above embodiments can be implemented.

[0168] The present disclosure also provides a computer program product. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes each process of implementing any one of the above-mentioned path determination method embodiments.

[0169] It should be understood that the present disclosure is not limited to the specific configurations and processes described above and illustrated in the figures. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and illustrated as examples. However, the method process of the present disclosure is not limited to the specific steps described and illustrated. Those skilled in the art can make various changes, modifications, and additions, or change the order of the steps after understanding the spirit of the present disclosure.

[0170] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present disclosure are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link via a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, read-only memories (ROMs), flash memories, erasable read-only memories (EROMs), floppy disks, compact disc read-only memories (CD-ROMs), optical discs, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0171] It should also be noted that the exemplary embodiments described in this disclosure describe methods or systems based on a series of steps or devices. However, this disclosure is not limited to the order of the steps described above. In other words, the steps may be performed in the order described in the embodiments, or in a different order, or several steps may be performed simultaneously.

[0172] Aspects of the present disclosure have been described above with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit. It is also understood that each box in the block diagram and / or flowchart and the combination of the boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0173] The above is only a specific embodiment of the present disclosure. Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the scope of protection of the present disclosure is not limited to this. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present disclosure, and these modifications or replacements should be included in the scope of protection of the present disclosure.

Claims

1. A method for determining a path, wherein: include: Acquire the track information of the vehicle-mounted terminal device in the sprinkler truck and the length of the sprinkler path that can be sprinkled by the sprinkler truck, wherein the track information includes the sprinkler path information and the number of sprinklers on the sprinkler path; Selecting a preset number of paths with fewer watering times from the preset paths to obtain a first path, wherein the preset path is a path corresponding to the sprinkler truck, including the watered path and the unwatered path; Selecting a second path that is shortest from the location of the sprinkler truck to the starting point of the first path, and using the first path and the second path as a third path; Selecting a third path whose path length is not greater than the length of the water-sprinkling path to obtain a fourth path; Calculating a first weighted average of the fourth path by using the first path length weight, the first watering times weight, the path length of the fourth path, and the watering times of the first path; A fourth path with the smallest first weighted average is determined as the target path.

2. The method for determining a path according to claim 1, wherein: The step of obtaining the track information of the vehicle-mounted terminal device in the sprinkler truck includes: Receiving location information of the vehicle-mounted terminal device in the sprinkler truck; The trajectory information is generated according to the position information.

3. The method for determining a path according to claim 1 or 2, wherein: The step of obtaining the length of the watering path of the watering truck comprises: Obtaining water volume data of the sprinkler truck; The length of the water sprinkling path of the sprinkler truck is calculated according to the relationship information between the water volume and the path length and the water volume data of the sprinkler truck.

4. The method for determining a path according to any one of claims 1 to 3, wherein: Also includes: In the case that the path lengths of the third paths are all greater than the length of the waterable path, respectively extracting the maximum longitude and latitude and the minimum longitude and latitude of the third paths; Finding water adding points in the rectangular areas enclosed by the maximum longitude and latitude and the minimum longitude and latitude respectively; Select the shortest path from the position of the watering truck to the position of the watering point, select the shortest path from the position of the watering point to the starting point of the first path, and use the shortest path from the position of the watering truck to the position of the watering point, the shortest path from the position of the watering point to the starting point of the first path, and the first path as the fifth path; Select the fifth path with the shortest path length in each rectangular area as the sixth path, and use the water adding point in the sixth path as the water adding point on the way; Calculating a second weighted average of the sixth path by using the second path length weight, the second watering times weight, the path length of the sixth path, and the watering times of the first path; The sixth path with the smallest second weighted average is determined as the target path.

5. The method for determining a path according to claim 4, wherein: The method further comprises: Obtain the location information of the water adding point.

6. The method for determining a path according to any one of claims 1 to 5, wherein: Also includes: When the position of the watering truck deviates from the target path, target information is sent to the vehicle-mounted terminal device of the watering truck.

7. The method for determining a path according to any one of claims 1 to 6, wherein: Also includes: Receive display input from the user; The track information of the sprinkler truck is displayed.

8. A device for determining a path, wherein: include: An acquisition module, used to acquire the track information of the vehicle-mounted terminal device in the sprinkler truck and the length of the sprinkler path of the sprinkler truck, wherein the track information includes the sprinkler path information and the number of sprinklers of the sprinkler path; A selection module, used for selecting a preset number of paths with fewer watering times from the preset paths to obtain a first path, wherein the preset path is a path corresponding to the sprinkler truck, including the watered path and the unwatered path; The selection module is further used to select a second path that is shortest from the position of the sprinkler truck to the starting point of the first path, and use the first path and the second path as a third path; The selection module is further used to select a third path whose path length is not greater than the length of the water-sprinkling path to obtain a fourth path; a calculation module, configured to calculate a first weighted average of the fourth path by using a first path length weight, a first watering times weight, a path length of the fourth path, and a watering times of the first path; A determination module is used to determine the fourth path with the smallest first weighted average as the target path.

9. An electronic device, comprising: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the path determination method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having computer program instructions stored thereon, wherein the computer program instructions, when executed by a processor, implement the path determination method according to any one of claims 1 to 7.

11. A computer program product, wherein when instructions in the computer program product are executed by a processor of an electronic device, the electronic device is enabled to execute the path determination method according to any one of claims 1 to 7.

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