CN112229349B - Method and device for determining working area of agricultural machine and agricultural machine - Google Patents
Method and device for determining working area of agricultural machine and agricultural machine Download PDFInfo
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- CN112229349B CN112229349B CN202011010151.7A CN202011010151A CN112229349B CN 112229349 B CN112229349 B CN 112229349B CN 202011010151 A CN202011010151 A CN 202011010151A CN 112229349 B CN112229349 B CN 112229349B
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- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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Abstract
The embodiment of the invention provides a method and a device for determining the working area of an agricultural machine, the agricultural machine, a processor and a storage medium. The method comprises the following steps: acquiring a plurality of positioning points for agricultural machinery determined in the operation process of the agricultural machinery; randomly selecting two positioning points with adjacent positions in the plurality of positioning points; determining a corresponding preset area according to the two positioning points; carrying out gray level processing on a preset area to obtain a corresponding gray level image; determining the number of pixels contained in the gray-scale image; and determining the working area of the agricultural machine according to the number of the pixels. When the operation area is confirmed in the mode, the no-tillage scene of the agricultural machine is well considered, the area of the no-tillage land can be counted, the possible re-tillage operation of the agricultural machine is solved, the area of the land which is subjected to repeated operation cannot be repeatedly calculated, and therefore the operation area of the agricultural machine can be accurately and effectively determined.
Description
Technical Field
The invention relates to the technical field of computers, in particular to a method and a device for determining the working area of an agricultural machine, the agricultural machine, a processor and a storage medium.
Background
The area measurement is a common work in agricultural production, and the calculation measurement of the working area of the agricultural machinery equipment is an important basis for the actual working measurement and the charging of the equipment. The state vigorously promotes the intelligent agriculture, and the measurement of the operation area of agricultural machinery equipment is an important basis for subsidy of agricultural machinery. In the traditional method, the measurement of the operation area mainly depends on measurement by manually utilizing a tape measure or a handheld device and the like, and time and labor are wasted. With the development of the technology, methods for calculating the working area by using the gps track are gradually developed. For example, the agricultural machinery working area is calculated by a two-dimensional space polygon area calculation method, the minimum boundary is calculated by a method such as a minimum convex edge and an alpha shape, and then the area is calculated by a polygon area formula. Alternatively, the solution is solved using a grid method. However, neither of the above-described measurement methods can effectively calculate the working area of the agricultural machine corresponding to the case of missing plowing or replating.
Disclosure of Invention
It is an object of embodiments of the present invention to provide a method, apparatus, agricultural machine, processor and storage medium for determining the working area of an agricultural machine that can efficiently calculate the working area of the agricultural machine in the event of a miss or a re-strike.
In order to achieve the above object, a first aspect of the present invention provides a method for determining a working area of an agricultural machine, comprising:
acquiring a plurality of positioning points for agricultural machinery determined in the operation process of the agricultural machinery;
randomly selecting two positioning points with adjacent positions in the plurality of positioning points;
determining a corresponding preset area according to the two positioning points;
carrying out gray level processing on a preset area to obtain a corresponding gray level image;
determining the number of pixels contained in the gray-scale image;
and determining the working area of the agricultural machine according to the number of the pixels.
In an embodiment of the invention, the agricultural machine is equipped with a positioning device; the method for acquiring a plurality of positioning points for the agricultural machine, which are determined in the operation process of the agricultural machine, comprises the following steps: acquiring positioning points periodically sent by positioning equipment and time information corresponding to the positioning points; and determining positioning points corresponding to the sub-areas in the operation process of the agricultural machine according to the time information of each positioning point.
In an embodiment of the invention, determining the positioning points corresponding to the sub-areas in the working process of the agricultural machine according to the time information of each positioning point comprises: acquiring the operation starting time and the operation ending time which are sent by the positioning equipment and correspond to each sub-area; and taking the positioning point with the time information between the work starting time and the work ending time as the positioning point corresponding to the sub-area.
In an embodiment of the present invention, determining the working area of the agricultural machine according to the number of pixels includes: determining the number of pixels of each sub-region according to the positioning point of each sub-region; determining the area corresponding to each pixel; determining the area of the area corresponding to each sub-area according to the number of the pixels of each sub-area and the area corresponding to each pixel; the working area of the agricultural machine is determined according to the area.
In an embodiment of the invention, the method further comprises: further comprising: before two positioning points adjacent in position in a plurality of positioning points are randomly selected, a minimum abscissa value and a minimum ordinate value in the plurality of positioning points are obtained; reducing the abscissa value of the positioning points by the minimum abscissa value, and reducing the ordinate value by the minimum ordinate value to obtain the translated positioning points; the arbitrary two locating points that choose the position adjacent in a plurality of locating points includes: and randomly selecting two positioning points with adjacent positions from the translated positioning points.
In the embodiment of the invention, the preset area is a rectangular area; determining the corresponding preset region according to the two positioning points comprises: determining the distance between two positioning points; a straight line formed by the two positioning points is used as a central dividing line, the distance is used as the length of a rectangle, and the operation width of the agricultural machine is used as the width of the rectangle to determine a rectangular area.
In the embodiment of the present invention, the vertex coordinates of the rectangular area are calculated by the following formula (1) respectively:
A second aspect of the present invention provides an apparatus for determining a working area of an agricultural machine, comprising:
a positioning device configured to determine a plurality of positioning points for the agricultural machine; and
a processor.
A third aspect of the invention provides a machine-readable storage medium having stored thereon instructions which, when executed by a processor, cause the processor to be configured to perform the method for determining a work area of a farm machine described above.
A fourth aspect of the invention provides a processor configured to perform the method for determining a work area of an agricultural machine described above.
According to the technical scheme, the positioning points which are determined in the operation process of the agricultural machine and aim at the agricultural machine are obtained, two positioning points which are adjacent to each other in position in the positioning points are selected at will, the corresponding preset area is determined according to the two positioning points, the gray level processing is carried out on the preset area to obtain the corresponding gray level image, the number of pixels contained in the gray level image is determined, the operation area of the agricultural machine is determined according to the number of pixels, when the operation area is determined in the mode, the no-tillage scene of the agricultural machine is well considered, the area of the no-tillage land blocks can be counted, meanwhile, the possible re-tillage operation of the agricultural machine is solved, the area of the land blocks which are subjected to the repeated operation cannot be repeatedly calculated, and therefore the operation area of the agricultural machine can be determined accurately and effectively.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
FIG. 1 schematically illustrates an application environment for determining the working area of an agricultural machine according to an embodiment of the present disclosure;
FIG. 2 schematically illustrates a flow diagram of a method for determining the working area of an agricultural machine according to an embodiment of the present disclosure;
FIG. 3 schematically shows a schematic view of a rectangular area according to an embodiment of the invention;
FIG. 4 schematically illustrates a flow diagram of a method for determining the working area of an agricultural machine according to another embodiment of the present disclosure;
FIG. 5A is a schematic diagram illustrating a rectangular region formed by positioning points corresponding to the sub-region A according to an embodiment of the present invention;
FIG. 5B is a schematic diagram of a grayscale image corresponding to the subregion A, according to an embodiment of the invention;
FIG. 6 is a block diagram schematically illustrating the structure of an apparatus for determining the working area of an agricultural machine according to an embodiment of the present invention;
fig. 7 is a block diagram schematically showing the construction of an apparatus for determining a working area of an agricultural machine according to another embodiment of the present invention;
FIG. 8 is a block diagram schematically illustrating the construction of an agricultural machine according to an embodiment of the present invention;
fig. 9 schematically shows an internal configuration diagram of a computer apparatus according to an embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
The method for determining the working area of the agricultural machine can be applied to the application environment shown in the figure 1. Where the positioning device 102 and the processor 104 may be in communication. The positioning device may be a device based on at least one of GPS, GSM, GPRS, etc. technologies, and a plurality of positioning points of the agricultural machine during the working process may be determined by the positioning device 102.
Fig. 2 schematically shows a flow diagram of a method for determining the working area of an agricultural machine according to an embodiment of the invention. As shown in fig. 2, in one embodiment of the present invention, there is provided a method for determining a working area of an agricultural machine, comprising the steps of:
And 204, performing gray level processing on the preset area to obtain a corresponding gray level image.
In step 205, the number of pixels included in the grayscale image is determined.
And step 206, determining the working area of the agricultural machine according to the number of the pixels.
During the operation process of the agricultural machine, the agricultural machine is in a constantly moving state, the position of the agricultural machine can be determined in real time through the positioning equipment, and the determined positioning points are sent to the processor. After the positioning points of the agricultural machinery are determined, two positioning points with adjacent positions can be selected from the positioning points at will, and the preset areas corresponding to the two selected positioning points are determined. Specifically, the position of the agricultural machine can be changed continuously in the operation process, the positioning device can send the positioning information of the positioning device to the processor every few seconds, and therefore the processor can obtain a plurality of positioning points of the agricultural machine. In the multiple positioning points, two positioning points adjacent to each other can be selected at will, and a preset area corresponding to the positioning points can be determined.
Agricultural machinery refers to various machines used in crop farming and animal husbandry production processes, as well as in the primary processing and treatment processes of agricultural and livestock products, and further, agricultural machinery refers to agricultural harvesting machinery, and specifically includes but is not limited to harvesting machinery for harvesting the following crops: the first kind is all grain crops such as rice, wheat, corn, millet, sorghum, buckwheat, highland barley and the like; the second kind is bean crops such as soybean, mung bean, red bean and the like; the third kind is the oil crops such as rapeseed, sunflower, castor, flax, peanut, etc.
After acquiring a plurality of anchor points, all the anchor points may be combined into a corresponding set P according to the time sequence of the anchor points, where P { (x)1,y1),(x2,y2)…,(xn,yn). The coordinates corresponding to each positioning point can also be called track points of agricultural machinery, and each track point can be converted into a Gaussian projection coordinate. The Gaussian coordinate is a Gaussian-gram Luger coordinate system, belongs to orthomorphism projection and is characterized in that a central meridian is not deformed; however, except for the central meridian, the segments of other meridians are deformed after being projected, and the farther from the central meridian, the larger the deformation. The spherical coordinates can be converted into plane coordinates through the Gaussian coordinates, and the area of the area can be measured and calculated more conveniently.
In one embodiment, the preset area is a rectangular area; determining the corresponding preset region according to the two positioning points comprises: determining the distance between two positioning points; a straight line formed by the two positioning points is used as a central dividing line, the distance is used as the length of a rectangle, and the operation width of the agricultural machine is used as the width of the rectangle to determine a rectangular area.
For each two positioning points adjacent to each other, when a rectangular area corresponding to the positioning points is determined, a straight line formed by the two positioning points can be used as a central dividing line, the distance between the two positioning points can be used as the length of the rectangle, and the operation width of the agricultural machine can be used as the width of the rectangle, so that the corresponding rectangular area can be determined.
As shown in fig. 3, two adjacent positioning points are arbitrarily selected from the plurality of positioning points, and the coordinates thereof are (x) respectivelyi,yi)，(xi+1,yi+1). The straight line formed by the two positioning points is used as a center dividing line of the rectangle, the distance d is used as the length of the rectangle, and the working width w of the agricultural machine is used as the width of the rectangle, so that the corresponding rectangular area can be determined. Distance between two positioning points
Further, the coordinates of the four vertices of the rectangle can also be calculated.
In one embodiment, the vertex coordinates of the rectangular regions are respectively calculated by the following formula (1):
wherein, the coordinates of two positioning points adjacent to each other are (x) respectivelyi,yi)，(xi+1,yi+1)；
The first vertex coordinate of the rectangular region is (x)a,ya) The second vertex coordinate is (x)b,yb) And the third vertex coordinate is (x)c,yc) The fourth vertex coordinate is (x)d,yd) And w is the working width of the agricultural machine.
As shown in FIG. 3, the four vertices of the rectangle are (x) to the lefta,ya)，(xb,yb)，(xc,yc)，(xd,yd). The specific coordinate value can be determined according to the determined (x)i,yi)，(xi+1,yi+1) And a working width d. After the specific coordinates of the four vertexes are calculated and determined, the rectangular area formed by the two adjacent positioning points can be specifically determined.
In one embodiment, the agricultural machine is equipped with a positioning device; the method for acquiring a plurality of positioning points determined in the operation process of the agricultural machine for the agricultural machine comprises the following steps: acquiring positioning points periodically sent by positioning equipment and time information corresponding to the positioning points; and determining positioning points corresponding to the sub-areas in the operation process of the agricultural machine according to the time information of each positioning point.
The positioning device may be mounted on an agricultural machine. During operation of the agricultural machine, the positioning device may periodically send the real-time position of the agricultural machine, i.e., the position point, to the processor. Each positioning point has corresponding time information. Further, the working area of the agricultural machine may be divided into a plurality of sub-areas, such as each already divided field as a single sub-area. When the agricultural machine works, a plurality of fields can be operated at one time, and in order to determine the floor area of each field, the positioning point corresponding to each field can be determined through the time information of the positioning point.
In one embodiment, determining the positioning points corresponding to the respective sub-areas during the operation of the agricultural machine from the time information of each positioning point comprises: acquiring the operation starting time and the operation ending time which are sent by the positioning equipment and correspond to each sub-area; and taking the positioning point with the time information between the work starting time and the work ending time as the positioning point corresponding to the sub-area.
When the agricultural machine works on a plurality of sub-areas at one time, in order to distinguish positioning points corresponding to the sub-areas, the positioning device may determine a work start time when the agricultural machine works on the sub-areas, and determine a work end time when the agricultural machine finishes working on the sub-areas. In this way, the processor may use the anchor point with the time information between the job start time and the job end time as the anchor point corresponding to the sub-area.
For example, the agricultural machine performs work on the sub-areas a, B and C, and when the work on the sub-area a is started, the positioning device may determine the work start time corresponding to the sub-area a, 08:45 points. Upon completion of the job for sub-area a, the positioning apparatus can determine the job end time corresponding to sub-area a, 09:45 points. During this period, the agricultural machine will work on the sub-area a, the positioning device will determine a plurality of positioning points, and the positioning points with time between 08:45 and 09:45 can be used as the positioning points corresponding to the sub-area a.
In one embodiment, determining the working area of the agricultural machine based on the number of pixels includes: determining the number of pixels of each sub-region according to the positioning point of each sub-region; determining the area corresponding to each pixel; determining the area of the area corresponding to each sub-area according to the number of the pixels of each sub-area and the area corresponding to each pixel; and determining the working area of the agricultural machine according to the area.
After the anchor point corresponding to each sub-region is determined, the number of pixels of each sub-region can be determined according to the anchor point of each sub-region. According to the above example, after the positioning points corresponding to the sub-region a are determined, two positioning points with adjacent positions can be arbitrarily selected from the positioning points corresponding to the sub-region a, a rectangular region formed by every two positioning points is determined, and gray processing is performed on the rectangular region to obtain a gray image corresponding to each rectangular region. The area per pixel can be determined, and the area of a sub-region is the number of pixels per sub-region and the area per pixel. For example, the total number of pixels included in the grayscale image corresponding to the rectangular region formed by the anchor points corresponding to the sub-region a is 1000, and the area corresponding to each pixel is 100 square meters, so that the area of the sub-region a is 1000 × 100 — 100000 square meters. The area corresponding to each pixel can be determined according to the measurement scale of the technician.
In one embodiment, as shown in FIG. 4, there is also provided a method for determining the working area of an agricultural machine, the steps comprising:
Step 402, acquiring the job starting time and the job ending time which are sent by the positioning device and correspond to each sub-area.
And step 403, taking the positioning point with the time information between the job starting time and the job ending time as the positioning point corresponding to the sub-area.
In step 408, the area corresponding to each pixel is determined.
In step 410, the working area of the agricultural machine is determined based on the area.
In the operation process of the agricultural machine, the positioning equipment can periodically send positioning points of the agricultural machine, and meanwhile, when the positioning equipment sends the positioning points to the processor, the positioning equipment can also send time information corresponding to each positioning point to the processor together. When the agricultural machine works on a plurality of sub-areas at one time, the area corresponding to each sub-area can be determined. Specifically, after the job start time and the job end time corresponding to each sub-region, which are sent by the positioning device, can be acquired, the positioning point of which the time information is located between the job start time and the job end time can be used as the positioning point corresponding to the corresponding sub-region, and in this way, a plurality of positioning points corresponding to each sub-region can be determined. Then, for each sub-region, two positioning points adjacent to any selected position in the positioning points corresponding to the sub-region can be selected, a corresponding preset region, namely a corresponding rectangular region, is determined according to the two positioning points, and gray processing is performed on all the rectangular regions, so that a corresponding gray image can be obtained.
As shown in fig. 5A, it is assumed that two anchor points adjacent to each other are arbitrarily selected from among a plurality of anchor points corresponding to the sub-area a, and rectangular areas N1, N2, N3, and N4 are formed. After the rectangular area formed by every two adjacent positioning points is determined, the rectangular area can be subjected to gray processing, such as the gray image shown in fig. 5B, it can be seen that after the area is subjected to gray processing, the problem of overlapping between the areas does not need to be considered, and after the gray processing, the area of the area corresponding to each sub-area can be calculated and the whole working area of the agricultural machine can be calculated as long as the number of pixels included in the gray image is determined. Specifically, after the number of pixels corresponding to each sub-region is determined, the area of the region corresponding to each sub-region can be calculated according to the area corresponding to each pixel, and the areas of the sub-regions are summed up to determine the working area of the agricultural machine.
In one embodiment, before two positioning points adjacent in position in a plurality of positioning points are randomly selected, a minimum abscissa value and a minimum ordinate value in the plurality of positioning points are obtained; reducing the abscissa value of the positioning points by the minimum abscissa value, and reducing the ordinate value by the minimum ordinate value to obtain the translated positioning points; the arbitrary two locating points that choose the position adjacent in a plurality of locating points includes: and randomly selecting two positioning points with adjacent positions from the translated positioning points.
In order to reduce the amount of computation, the anchor points may be translated. First, from all the positioning points, the positioning point with the smallest abscissa among the positioning points is determined, so as to determine the smallest abscissa value. Similarly, the positioning point with the smallest ordinate in each positioning point is determined, the smallest ordinate value is determined, then the abscissa value of each positioning point is reduced by the smallest abscissa value, and the ordinate value is reduced by the smallest ordinate value, so that the positioning points are translated, and a plurality of translated positioning points can be obtained. And then, two positioning points with adjacent positions in the plurality of positioning points can be randomly selected from the translated positioning points to determine the rectangular area. Therefore, the size of a rectangular area formed by any two positioning points adjacent to each other can be effectively reduced, and the calculation amount can be reduced.
According to the method for determining the operation area of the agricultural machine, the plurality of positioning points determined in the operation process of the agricultural machine are obtained, two positioning points adjacent to each other in position in the plurality of positioning points are randomly selected, the corresponding preset area is determined according to the two positioning points, the gray level processing is carried out on the preset area to obtain the corresponding gray level image, the number of pixels contained in the gray level image is determined, the operation area of the agricultural machine is determined according to the number of pixels, when the operation area is determined in this way, the missed tillage scene of the agricultural machine is well considered, the area of the missed tillage land can be counted, the possible re-tillage operation of the agricultural machine is solved, the area of the land which is repeatedly operated cannot be repeatedly calculated, and therefore the operation area of the agricultural machine can be accurately and effectively determined.
In one embodiment, as shown in fig. 6, there is provided an apparatus for determining a working area of an agricultural machine, comprising:
the positioning information acquiring module 601 is configured to acquire a plurality of positioning points for the agricultural machine determined during the operation of the agricultural machine.
The grayscale image generation module 602 is configured to randomly select two positioning points with adjacent positions from a plurality of positioning points in an area; determining a corresponding preset area according to the two positioning points; and carrying out gray level processing on the preset area to obtain a corresponding gray level image.
An area confirmation module 603 configured to determine the number of pixels contained in the grayscale image; and determining the working area of the agricultural machine according to the number of the pixels.
In one embodiment, the agricultural machine is equipped with a positioning device. The positioning information obtaining module 601 is further configured to obtain positioning points periodically transmitted by the positioning device and time information corresponding to the positioning points; and determining positioning points corresponding to the sub-areas in the operation process of the agricultural machine according to the time information of each positioning point.
In one embodiment, the positioning information obtaining module 601 is further configured to obtain a job start time and a job end time corresponding to each sub-area, which are sent by the positioning device; and taking the positioning point with the time information between the work starting time and the work ending time as the positioning point corresponding to the sub-area.
In one embodiment, the area validation module 603 is further configured to determine the number of pixels per sub-region from the anchor points of each sub-region; determining the area corresponding to each pixel; determining the area of the area corresponding to each sub-area according to the number of the pixels of each sub-area and the area corresponding to each pixel; the working area of the agricultural machine is determined according to the area.
In one embodiment, the apparatus for determining the working area of an agricultural machine further comprises a positioning data processing module (not shown in the figure) configured to obtain a minimum abscissa value and a minimum ordinate value of a plurality of positioning points before randomly selecting two positioning points adjacent to each other in position from the plurality of positioning points; reducing the abscissa values of the positioning points by the minimum abscissa value and reducing the ordinate values by the minimum ordinate value to obtain the translated positioning points; the arbitrary two locating points that choose the position adjacent in a plurality of locating points includes: and randomly selecting two positioning points with adjacent positions from the translated positioning points.
In one embodiment, the predetermined area is a rectangular area. The grayscale image generation module 602 is further configured to determine a distance between two location points; and determining a rectangular area by taking the straight line formed by the two positioning points as a central dividing line, taking the distance as the length of the rectangle and taking the operation width of the agricultural machine as the width of the rectangle.
In one embodiment, grayscale image generation module 602 is further configured to calculate the vertex coordinates of the rectangular region by:
wherein, the coordinates of two positioning points adjacent to each other are (x) respectivelyi,yi)，(xi+1,yi+1) (ii) a The first vertex coordinate of the rectangular region is (x)a,ya) The second vertex coordinate is (x)b,yb) And the third vertex coordinate is (x)c,yc) The fourth vertex coordinate is (x)d,yd) And w is the working width of the agricultural machine.
The device for determining the working area of the agricultural machine comprises a processor and a memory, wherein the positioning information acquisition module, the gray image generation module, the area confirmation module and the like are stored in the memory as program units, and the processor executes the program modules stored in the memory to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, and the area of the agricultural machine is determined by adjusting the kernel parameters.
In one embodiment, as shown in fig. 7, there is also provided an apparatus 700 for determining the working area of an agricultural machine, comprising:
a positioning device 701 configured to determine a plurality of positioning points for the agricultural machine; and
a processor 702 configured to perform the method for determining a work area of an agricultural machine described above.
In one embodiment, as shown in FIG. 8, an agricultural machine 800 is provided that includes the apparatus 700 for determining a work area of an agricultural machine described above.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
An embodiment of the present invention provides a storage medium having stored thereon a program that, when executed by a processor, implements the above-described method for determining a working area of an agricultural machine.
Embodiments of the present invention provide a processor for running a program, wherein the program is run to perform the above method for determining the working area of an agricultural machine.
In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 9. The computer device includes a processor a01, a network interface a02, a memory (not shown), and a database (not shown) connected by a system bus. Wherein processor a01 of the computer device is used to provide computing and control capabilities. The memory of the computer device comprises an internal memory a03 and a non-volatile storage medium a 04. The nonvolatile storage medium a04 stores an operating system B01, a computer program B02, and a database (not shown in the figure). The internal memory a03 provides an environment for the operation of the operating system B01 and the computer programs B02 in the non-volatile storage medium a 04. The database of the computer device is used for storing data such as positioning points and the like. The network interface a02 of the computer device is used for communication with an external terminal through a network connection. The computer program B02 is executed by the processor a01 to implement a method for determining the working area of an agricultural machine.
Those skilled in the art will appreciate that the architecture shown in fig. 9 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein the processor executes the program and realizes the following steps: acquiring a plurality of positioning points for agricultural machinery determined in the operation process of the agricultural machinery; randomly selecting two positioning points with adjacent positions in the plurality of positioning points; determining a corresponding preset area according to the two positioning points; carrying out gray level processing on a preset area to obtain a corresponding gray level image; determining the number of pixels contained in the gray-scale image; and determining the working area of the agricultural machine according to the number of the pixels.
In one embodiment, the agricultural machine is equipped with a positioning device; the method for acquiring a plurality of positioning points for the agricultural machine, which are determined in the operation process of the agricultural machine, comprises the following steps: acquiring positioning points periodically sent by positioning equipment and time information corresponding to the positioning points; and determining positioning points corresponding to the sub-areas in the operation process of the agricultural machine according to the time information of each positioning point.
In one embodiment, determining the positioning points corresponding to the respective sub-areas during the operation of the agricultural machine from the time information of each positioning point comprises: acquiring the operation starting time and the operation ending time which are sent by the positioning equipment and correspond to each sub-area; and taking the positioning point with the time information between the work starting time and the work ending time as the positioning point corresponding to the sub-area.
In one embodiment, determining the working area of the agricultural machine based on the number of pixels includes: determining the number of pixels of each sub-region according to the positioning point of each sub-region; determining the area corresponding to each pixel; determining the area of the area corresponding to each sub-area according to the number of the pixels of each sub-area and the area corresponding to each pixel; the working area of the agricultural machine is determined according to the area.
In one embodiment, the processor when executing the program further performs the steps of: before two positioning points adjacent in position in a plurality of positioning points are randomly selected, a minimum abscissa value and a minimum ordinate value in the plurality of positioning points are obtained; reducing the abscissa value of the positioning points by the minimum abscissa value, and reducing the ordinate value by the minimum ordinate value to obtain the translated positioning points; the arbitrary two locating points that choose the position adjacent in a plurality of locating points includes: and randomly selecting two positioning points with adjacent positions from the translated positioning points.
In one embodiment, the preset area is a rectangular area; determining the corresponding preset region according to the two positioning points comprises: determining the distance between two positioning points; a straight line formed by the two positioning points is used as a central dividing line, the distance is used as the length of a rectangle, and the operation width of the agricultural machine is used as the width of the rectangle to determine a rectangular area.
In one embodiment, the vertex coordinates of the rectangular regions are respectively calculated by the following formula (1):
Wherein, the coordinates of two positioning points adjacent to each other are respectively (x)i,yi)，(xi+1,yi+1) (ii) a The first vertex coordinate of the rectangular region is (x)a,ya) The second vertex coordinate is (x)b,yb) And the third vertex coordinate is (x)c,yc) The fourth vertex coordinate is (x)d,yd) And w is the working width of the agricultural machine.
The present application further provides a computer program product adapted to perform a program for initializing the following method steps when executed on a data processing device: acquiring a plurality of positioning points for agricultural machinery determined in the operation process of the agricultural machinery; randomly selecting two positioning points with adjacent positions in the plurality of positioning points; determining a corresponding preset area according to the two positioning points; carrying out gray level processing on a preset area to obtain a corresponding gray level image; determining the number of pixels contained in the gray-scale image; and determining the working area of the agricultural machine according to the number of the pixels.
In one embodiment, the agricultural machine is equipped with a positioning device; the method for acquiring a plurality of positioning points for the agricultural machine, which are determined in the operation process of the agricultural machine, comprises the following steps: acquiring positioning points periodically sent by positioning equipment and time information corresponding to the positioning points; and determining positioning points corresponding to the sub-areas in the operation process of the agricultural machine according to the time information of each positioning point.
In one embodiment, determining the positioning points corresponding to the respective sub-areas during the operation of the agricultural machine from the time information of each positioning point comprises: acquiring the operation starting time and the operation ending time which are sent by the positioning equipment and correspond to each sub-area; and taking the positioning point with the time information between the work starting time and the work ending time as the positioning point corresponding to the sub-area.
In one embodiment, determining the working area of the agricultural machine based on the number of pixels comprises: determining the number of pixels of each sub-region according to the positioning point of each sub-region; determining the area corresponding to each pixel; determining the area of the area corresponding to each sub-area according to the number of the pixels of each sub-area and the area corresponding to each pixel; the working area of the agricultural machine is determined according to the area.
In one embodiment, the following steps are also implemented: before two positioning points adjacent in position in a plurality of positioning points are randomly selected, a minimum abscissa value and a minimum ordinate value in the plurality of positioning points are obtained; reducing the abscissa value of the positioning points by the minimum abscissa value, and reducing the ordinate value by the minimum ordinate value to obtain the translated positioning points; the arbitrary two locating points that choose the position adjacent in a plurality of locating points includes: and randomly selecting two positioning points with adjacent positions from the translated positioning points.
In one embodiment, the preset area is a rectangular area; determining the corresponding preset region according to the two positioning points comprises: determining the distance between two positioning points; a straight line formed by the two positioning points is used as a central dividing line, the distance is used as the length of a rectangle, and the operation width of the agricultural machine is used as the width of the rectangle to determine a rectangular area.
In one embodiment, the vertex coordinates of the rectangular regions are respectively calculated by the following formula (1):
Wherein, the coordinates of two positioning points adjacent to each other are (x) respectivelyi,yi)，(xi+1,yi+1) (ii) a The first vertex coordinate of the rectangular region is (x)a,ya) The second vertex coordinate is (x)b,yb) And the third vertex coordinate is (x)c,yc) The fourth vertex coordinate is (x)d,yd) And w is the working width of the agricultural machine.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A method for determining a working area of an agricultural machine, comprising:
acquiring a plurality of positioning points for the agricultural machine, which are determined in the operation process of the agricultural machine;
acquiring a minimum abscissa value and a minimum ordinate value in the positioning points;
reducing the horizontal coordinate value of the positioning points by the minimum horizontal coordinate value, and reducing the vertical coordinate value by the minimum vertical coordinate value to obtain the positioning points after translation;
randomly selecting two positioning points with adjacent positions from the translated positioning points;
determining a corresponding preset area according to the two positioning points;
carrying out gray level processing on the preset area to obtain a corresponding gray level image;
determining the number of pixels contained in the grayscale image;
and determining the working area of the agricultural machine according to the number of the pixels.
2. The method of claim 1, wherein the agricultural machine is equipped with a positioning device; the acquiring of the plurality of positioning points for the agricultural machine determined in the agricultural machine operation process comprises:
acquiring positioning points periodically sent by the positioning equipment and time information corresponding to the positioning points;
and determining positioning points corresponding to the sub-areas in the agricultural machine operation process according to the time information of each positioning point.
3. The method according to claim 2, wherein said determining from the time information of each setpoint, the setpoint corresponding to the respective sub-area of the agricultural machine during operation comprises:
acquiring the operation starting time and the operation ending time which are sent by the positioning equipment and correspond to each sub-area;
and taking the positioning point of the time information between the operation starting time and the operation ending time as the positioning point of the corresponding sub-area.
4. The method of claim 3, wherein said determining a work area of the agricultural machine based on the number of pixels comprises:
determining the number of pixels of each sub-region according to the positioning point of each sub-region;
determining the area corresponding to each pixel;
determining the area of the area corresponding to each sub-area according to the number of the pixels of each sub-area and the area corresponding to each pixel;
and determining the working area of the agricultural machine according to the area.
5. The determination method according to claim 1, wherein the preset area is a rectangular area; the determining the corresponding preset region according to the two positioning points comprises:
determining the distance between the two positioning points;
and taking a straight line formed by the two positioning points as a central dividing line, taking the distance as the length of a rectangle, and taking the operation width of the agricultural machine as the width of the rectangle to determine the rectangular area.
6. The determination method according to claim 5, wherein the vertex coordinates of the rectangular area are calculated by the following formula (1), respectively:
wherein the coordinates of the two positioning points adjacent to each other are (x) respectivelyi,yi)，(xi+1,yi+1)；
The first vertex coordinate of the rectangular area is (x)a,ya) The second vertex coordinate is (x)b,yb) And the third vertex coordinate is (x)c,yc) The fourth vertex coordinate is (x)d,yd) And w is the working width of the agricultural machine.
7. A processor configured to perform the method for determining a working area of an agricultural machine according to any one of claims 1 to 6.
8. An apparatus for determining a working area of an agricultural machine, comprising:
a positioning device configured to determine a plurality of positioning points for the agricultural machine; and
the processor of claim 7.
9. An agricultural machine, comprising:
the apparatus for determining the working area of an agricultural machine of claim 8.
10. A machine readable storage medium having instructions stored thereon, wherein the instructions, when executed by a processor, cause the processor to be configured to perform a method for determining a work area of a farm machine according to any of claims 1 to 6.
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