Intelligent agricultural machinery monitoring control system and monitoring control method

Abstract

The present invention belongs to the technical field of intelligent agricultural machinery monitoring, and specifically relates to an intelligent agricultural machinery monitoring and control system and a monitoring and control method. The monitoring and control system of the present invention collects agricultural machinery operation trajectory points through a terminal core control board and processes them to determine the working state of the agricultural machinery, and controls whether the agricultural machinery enters a low-power working mode according to the working state of the agricultural machinery, thereby reducing the power consumption of the agricultural machinery battery and saving communication costs; the monitoring and control method of the present invention converts the agricultural machinery operation trajectory points into longitude and latitude coordinates and speeds, separates the agricultural machinery operation trajectory points with a speed of zero, and performs grid clustering analysis on the remaining agricultural machinery trajectory points, sets a speed threshold and a density threshold, thereby determining different working states of the agricultural machinery, has a fast processing speed, can process large-scale data sets, and combines the engine operation speed and the battery voltage value to comprehensively determine the working state of the agricultural machinery, thereby improving the accuracy of the determination of the working state of the agricultural machinery.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent agricultural machinery monitoring, and in particular relates to an intelligent agricultural machinery monitoring control system and a monitoring control method. Background Art

[0002] Currently, the monitoring equipment on the market is designed for a single function and cannot be classified and managed according to the different working conditions of agricultural machinery, resulting in a lot of invalid data and high communication costs. Summary of the invention

[0003] The purpose of the present invention is to provide an intelligent agricultural machinery monitoring and control system and a monitoring and control method. The present invention can automatically switch the terminal working mode according to the current working status of the agricultural machinery, so as to reduce the battery power consumption of the agricultural machinery, facilitate agricultural machinery data management, and save communication costs.

[0004] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: an intelligent agricultural machinery monitoring and control system, including a Beidou navigation and positioning system, a terminal core control board and an external monitoring device;

[0005] The external monitoring equipment is used to monitor the surrounding environment information of the agricultural machinery;

[0006] The Beidou navigation and positioning system is used to monitor the location information of agricultural machinery;

[0007] The terminal core control board is used to convert the location information of the agricultural machinery monitored by the Beidou navigation and positioning system every t seconds into the longitude and latitude coordinates and speed of the agricultural machinery operation track point. If the speed of the agricultural machinery operation track point is zero, it is determined that the working state of the agricultural machinery is a rest and maintenance state; grid clustering is performed on the remaining agricultural machinery operation track points, and a density threshold is set. The agricultural machinery operation track points below the density threshold correspond to the agricultural machinery working state of the road travel state, and the operation track points greater than or equal to the density threshold correspond to the agricultural machinery working state of the field operation state;

[0008] The terminal core control board includes a power control module, a voltage detection module and a communication module. The voltage detection module is used to monitor the battery voltage. When the battery voltage is lower than the voltage threshold, the terminal core control board is controlled to enter a low-power sleep state.

[0009] The power control module controls the on / off of the circuit of the external monitoring device according to the working state of the agricultural machine; when the working state of the agricultural machine is a stop and maintenance state, the circuit of the external monitoring device is disconnected;

[0010] The communication module is used for collecting and transmitting information of the agricultural machinery. When the working state of the agricultural machinery is a road traveling state, the communication module reduces the communication frequency to a frequency threshold.

[0011] The technical solution of the present invention also includes: it also includes an engine, and the terminal core control board is used to collect the engine speed information. When the engine speed is equal to zero, the agricultural machinery is in a rest and maintenance state; when the engine speed is not zero, the agricultural machinery is in a road traveling state or a field operation state.

[0012] The technical solution of the present invention also includes: a CAN bus, and the terminal core control board is connected to the engine via the CAN bus.

[0013] The technical solution of the present invention also includes: the external monitoring equipment includes a camera and a position sensor, the camera is used to collect image information of objects around the agricultural machinery, and the position sensor is used to monitor the distance between the objects around the agricultural machinery and the agricultural machinery.

[0014] The present invention also discloses an intelligent agricultural machinery monitoring and control method, comprising the following steps:

[0015] Step a: Data preprocessing

[0016] The agricultural machinery operation track points are collected through the Beidou navigation and positioning system. The agricultural machinery operation track points are obtained by uploading the Beidou navigation and positioning system position information every t seconds by the terminal core control board, so that the corresponding relationship between the agricultural machinery operation track points and time is established;

[0017] The agricultural machinery running track points are converted into longitude and latitude coordinates and speed by parsing the RMC statements of the Beidou navigation and positioning system;

[0018] By setting the speed threshold to zero, when the speed is equal to zero, the corresponding agricultural machinery operation trajectory points are separated, and the separated agricultural machinery operation trajectory points correspond to the agricultural machinery being in a rest and maintenance state;

[0019] The longitude and latitude coordinates corresponding to the remaining agricultural machinery operation trajectory points after separation are input into the RNN network composed of GRU one by one, and the agricultural machinery operation trajectory points are divided into different groups according to the same motion characteristics;

[0020] Seq2Seq converts groups of different numbers of agricultural machinery operation trajectory points into fixed-length vectors to obtain the processed data space; Seq2Seq, which stands for Sequence to Sequence, is a generative neural network with an encoder-decoder structure. Its input is a sequence and its output is also a sequence. The process is that the encoder converts the variable-length sequence {x1, x2, x3, x4} into a fixed-length vector v, and the decoder converts this fixed-length vector v into a variable-length target output sequence {y1, y2, y3, y4};

[0021] Step b: Divide the grid

[0022] Establish a spatial unit grid, grid the data space obtained in step a, and obtain a two-dimensional spatial data set s;

[0023] Step c: Grid clustering

[0024] Set a density threshold. In step b, cells in the two-dimensional spatial data set s with a density lower than the density threshold are road travel trajectory points, corresponding to the agricultural machinery being in the road travel state; cells with a density greater than or equal to the density threshold are field operation trajectory points, corresponding to the agricultural machinery being in the field operation state;

[0025] When the agricultural machinery is in a state of suspension for maintenance, disconnect the circuit of the external monitoring equipment of the agricultural machinery;

[0026] When the agricultural machine is in a state of traveling on the road, the communication module reduces the communication frequency to a frequency threshold.

[0027] The technical solution of the present invention also includes: the terminal core control board collects the engine speed. When the engine speed is equal to zero, the agricultural machinery is in a stopped maintenance state; when the engine speed is not zero, the agricultural machinery is in a road travel state or a field operation state. When the agricultural machinery is in a stopped state, the terminal core control board can also receive the location information of the agricultural machinery monitored by the Beidou navigation and positioning system, resulting in an increase in the density of trajectory points in the stopped area, affecting the cluster analysis of the operation area. According to the zero speed of the agricultural machinery when the agricultural machinery is stopped, effective data processing is performed by setting a speed threshold, thereby separating the agricultural machinery stop points, which is helpful for cluster analysis of motion trajectory points and improving the determination accuracy and speed of the agricultural machinery status.

[0028] The technical solution of the present invention also includes: the terminal core control board collects the battery voltage, when the battery voltage is less than the voltage threshold, the agricultural machine is in a stop and maintenance state; when the battery voltage is greater than or equal to the voltage threshold, the agricultural machine is in a road travel state or a field operation state;

[0029] When the agricultural machinery is in a rest and maintenance state and the battery voltage is detected to be less than the voltage threshold, the functional modules of the terminal core control board are shut down and enter a low-power sleep state.

[0030] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention provides an intelligent agricultural machinery monitoring and control system, which collects the positioning position information of the agricultural machinery through the terminal core control board and processes it to determine the working status of the agricultural machinery, and monitors the battery voltage value. When the agricultural machinery is in a rest and maintenance state, the circuit of the external monitoring equipment is disconnected; when the battery voltage is lower than the voltage threshold, the terminal core control board shuts down each functional module and enters a low-power sleep state; when the agricultural machinery is in a field operation state, the communication module reduces the communication frequency to the frequency threshold, thereby reducing the power consumption of the agricultural machinery battery and saving communication costs.

[0031] The present invention provides an intelligent agricultural machinery monitoring and control method. By parsing RMC statements, the position information of the agricultural machinery monitored by the Beidou navigation and positioning system is converted into the longitude and latitude coordinates and speed of the agricultural machinery operation track points, the agricultural machinery operation track points with a speed of zero are separated, and the remaining agricultural machinery track points are subjected to grid clustering analysis. The speed threshold and the density threshold are set, so as to judge the different working states of the agricultural machinery. The present invention adopts a clustering algorithm based on a grid method to classify the agricultural machinery operation track point information. The processing speed is fast and large-scale data sets can be processed. The clustering result is not affected by the data input order, and the expression of the result is intuitive and easy to understand. Since the "multipath effect" will cause the position track point to drift, the identification of the working state of the agricultural machinery by the clustering algorithm may be wrong. The monitoring and control method of the present invention combines the engine running speed and the battery voltage value to comprehensively judge the working state of the agricultural machinery, thereby improving the accuracy of the judgment of the working state of the agricultural machinery. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 Schematic diagram of a grid of the two-dimensional spatial data set s described in the present invention. DETAILED DESCRIPTION

[0033] The present invention will now be further described in detail with reference to the accompanying drawings and embodiments. These drawings are simplified schematic diagrams that only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0034] Example 1

[0035] An intelligent agricultural machinery monitoring and control system includes a Beidou navigation and positioning system, a terminal core control board and external monitoring equipment.

[0036] The external monitoring equipment is used to monitor the surrounding environment information of the agricultural machinery.

[0037] The Beidou navigation and positioning system is used to monitor the location information of agricultural machinery.

[0038] The terminal core control board is used to convert the location information of the agricultural machinery monitored by the Beidou navigation and positioning system every t seconds into the longitude and latitude coordinates and speed of the agricultural machinery operation trajectory point. If the speed of the agricultural machinery operation trajectory point is zero, it is determined that the working state of the agricultural machinery is a rest and maintenance state; the remaining agricultural machinery operation trajectory points are grid clustered, and a density threshold is set. The agricultural machinery operation trajectory points below the density threshold correspond to the agricultural machinery working state of the road travel state, and the operation trajectory points greater than or equal to the density threshold correspond to the agricultural machinery working state of the field operation state.

[0039] The terminal core control board includes a power control module, a voltage detection module and a communication module. The voltage detection module is used to monitor the battery voltage. When the battery voltage is lower than a voltage threshold, the terminal core control board is controlled to enter a low-power sleep state.

[0040] The power control module controls the on-off of the circuit of the external monitoring device according to the working state of the agricultural machine; when the working state of the agricultural machine is a stop and maintenance state, the circuit of the external monitoring device is disconnected.

[0041] The communication module is used for collecting and transmitting information of the agricultural machinery. When the working state of the agricultural machinery is a road traveling state, the communication module reduces the communication frequency to a frequency threshold.

[0042] The intelligent agricultural machinery monitoring and control system also includes an engine, and the terminal core control board is used to collect engine speed information. When the engine speed is zero, the agricultural machinery is in a rest and maintenance state; when the engine speed is not zero, the agricultural machinery is in a road traveling state or a field operation state.

[0043] The intelligent agricultural machinery monitoring and control system also includes a CAN bus, and the terminal core control board is connected to the engine via the CAN bus.

[0044] The external monitoring equipment includes a camera and a position sensor. The camera is used to collect image information of objects around the agricultural machinery, and the position sensor is used to monitor the distance between the objects around the agricultural machinery and the agricultural machinery.

[0045] Example 2

[0046] An intelligent agricultural machinery monitoring and control method comprises the following steps:

[0047] Step a: Data preprocessing

[0048] The agricultural machinery operation trajectory points are collected through the Beidou navigation and positioning system. The agricultural machinery operation trajectory points are obtained by uploading the Beidou navigation and positioning system position information every 0.5 seconds by the terminal core control board, so that the corresponding relationship between the agricultural machinery operation trajectory points and time is established.

[0049] By parsing the RMC statements of the Beidou navigation and positioning system, the trajectory points of agricultural machinery are converted into longitude and latitude coordinates and speed.

[0050] By setting the speed threshold to zero, when the speed is equal to zero, the corresponding agricultural machinery operation trajectory points are separated, and the separated agricultural machinery operation trajectory points correspond to the agricultural machinery being in a rest and maintenance state.

[0051] The longitude and latitude coordinates corresponding to the remaining agricultural machinery operation trajectory points after separation are input into the RNN network composed of GRU one by one, and the agricultural machinery operation trajectory points are divided into different groups according to the same motion characteristics.

[0052] Seq2Seq converts each group containing different numbers of agricultural machinery operation trajectory points into a vector of fixed length to obtain the processed data space.

[0053] Step b: Divide the grid

[0054] like Figure 1 As shown, a spatial unit grid is established, and the data space obtained in step a is gridded to obtain a two-dimensional spatial data set s.

[0055] Step c: Grid clustering

[0056] Set a density threshold. In step b, the cells in the two-dimensional spatial data set s with a density lower than the density threshold are road travel trajectory points, corresponding to the agricultural machinery being in the road travel state; the cells with a density greater than or equal to the density threshold are field operation trajectory points, corresponding to the agricultural machinery being in the field operation state.

[0057] When the agricultural machinery is in a state of suspension for maintenance, disconnect the circuit of the external monitoring equipment of the agricultural machinery;

[0058] When the agricultural machine is in a state of traveling on the road, the communication module reduces the communication frequency to a frequency threshold.

[0059] The terminal core control board collects the engine speed. When the engine speed is zero, the agricultural machinery is in a rest and maintenance state; when the engine speed is not zero, the agricultural machinery is in a road traveling state or a field operation state.

[0060] The terminal core control board collects the battery voltage. When the battery voltage is less than the voltage threshold, the engine is not running and the agricultural machinery is in a rest and maintenance state; when the battery voltage is greater than or equal to the voltage threshold, the engine operates normally and the agricultural machinery is in a road traveling state or a field operation state.

[0061] When the agricultural machinery is in a rest and maintenance state and the battery voltage is detected to be less than the voltage threshold, the functional modules of the terminal core control board are shut down and enter a low-power sleep state.

Claims

1. An intelligent agricultural machinery monitoring and control system, characterized in that: Including Beidou navigation and positioning system, terminal core control panel and external monitoring equipment; The external monitoring equipment is used to monitor the surrounding environment information of the agricultural machinery; The Beidou navigation and positioning system is used to monitor the location information of agricultural machinery; The terminal core control board is used to convert the location information of the agricultural machinery monitored by the Beidou navigation and positioning system every t seconds into the longitude and latitude coordinates and speed of the agricultural machinery operation track point. If the speed of the agricultural machinery operation track point is zero, it is determined that the working state of the agricultural machinery is a rest and maintenance state; grid clustering is performed on the remaining agricultural machinery operation track points, and a density threshold is set. The agricultural machinery operation track points below the density threshold correspond to the agricultural machinery working state of the road travel state, and the operation track points greater than or equal to the density threshold correspond to the agricultural machinery working state of the field operation state; The terminal core control board includes a power control module, a voltage detection module and a communication module. The voltage detection module is used to monitor the battery voltage. When the battery voltage is lower than the voltage threshold, the terminal core control board is controlled to enter a low-power sleep state. The power control module controls the on / off of the circuit of the external monitoring device according to the working state of the agricultural machine; when the working state of the agricultural machine is a stop and maintenance state, the circuit of the external monitoring device is disconnected; The communication module is used for collecting and transmitting information of the agricultural machinery. When the working state of the agricultural machinery is a road traveling state, the communication module reduces the communication frequency to a frequency threshold.

2. The intelligent agricultural machinery monitoring and control system according to claim 1 is characterized in that: It also includes an engine, and the terminal core control board is used to collect engine speed information. When the engine speed is zero, the agricultural machinery is in a rest and maintenance state; when the engine speed is not zero, the agricultural machinery is in a road traveling state or a field operation state.

3. The intelligent agricultural machinery monitoring and control system according to claim 2 is characterized in that: It also includes a CAN bus, and the terminal core control board is connected to the engine via the CAN bus.

4. The intelligent agricultural machinery monitoring and control system according to claim 1 is characterized in that: The external monitoring equipment includes a camera and a position sensor. The camera is used to collect image information of objects around the agricultural machinery, and the position sensor is used to monitor the distance between the objects around the agricultural machinery and the agricultural machinery.

5. An intelligent agricultural machinery monitoring and control method, characterized in that: The following steps are involved: Step a: Data preprocessing The agricultural machinery operation track points are collected through the Beidou navigation and positioning system. The agricultural machinery operation track points are obtained by uploading the Beidou navigation and positioning system position information every t seconds by the terminal core control board, so that the corresponding relationship between the agricultural machinery operation track points and time is established; By parsing the RMC statements of the Beidou navigation and positioning system, the agricultural machinery running track points are converted into longitude and latitude coordinates and speed; The speed threshold is set to zero. When the speed is equal to zero, the corresponding agricultural machinery operation trajectory points are separated. The separated agricultural machinery operation trajectory points correspond to the agricultural machinery being in a rest and maintenance state. The longitude and latitude coordinates corresponding to the remaining agricultural machinery operation trajectory points after separation are input into the RNN network composed of GRU one by one, and the agricultural machinery operation trajectory points are divided into different groups according to the same motion characteristics; Seq2Seq converts each group containing different numbers of agricultural machinery operation trajectory points into a vector of fixed length to obtain the processed data space; Step b: Divide the grid Establish a spatial unit grid, grid the data space obtained in step a, and obtain a two-dimensional spatial data set s; Step c: Grid clustering Set a density threshold. In step b, cells in the two-dimensional spatial data set s with a density lower than the density threshold are road travel trajectory points, corresponding to the agricultural machinery being in the road travel state; cells with a density greater than or equal to the density threshold are field operation trajectory points, corresponding to the agricultural machinery being in the field operation state; When the agricultural machinery is in a state of suspension for maintenance, disconnect the circuit of the external monitoring equipment of the agricultural machinery; When the agricultural machine is in a state of traveling on the road, the communication module reduces the communication frequency to a frequency threshold.

6. The intelligent agricultural machinery monitoring and control method according to claim 5, characterized in that: The terminal core control board collects the engine speed. When the engine speed is zero, the agricultural machinery is in a rest and maintenance state; when the engine speed is not zero, the agricultural machinery is in a road traveling state or a field operation state.

7. The intelligent agricultural machinery monitoring and control method according to claim 5, characterized in that: The terminal core control board collects battery voltage information. When the battery voltage is less than the voltage threshold, the agricultural machine is in a rest and maintenance state; when the battery voltage is greater than or equal to the voltage threshold, the agricultural machine is in a road travel state or a field operation state; When the agricultural machinery is in a rest and maintenance state and the battery voltage is detected to be less than the voltage threshold, the functional modules of the terminal core control board are shut down and enter a low-power sleep state.

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