Method and device for calculating width of agricultural machine track

Abstract

The application provides a method and device for calculating the width of a farm machine track, and relates to the technical field of agriculture. The method comprises the following steps: obtaining a set of farm machine track point information corresponding to a target farmland area, wherein each piece of farm machine track point information in the set of farm machine track point information comprises farm machine positioning information, positioning time information and farm machine working angle information; determining each turning farm machine track point information and each work ridge farm machine track point information in the set of farm machine track point information based on the farm machine working angle information of each piece of farm machine track point information; determining a set of work ridge farm machine track point information corresponding to each work ridge based on the positioning time information of each turning farm machine track point information and each work ridge farm machine track point information; and calculating the width information of the farm machine track based on the farm machine positioning information in the set of work ridge farm machine track point information corresponding to each work ridge.

Description

Technical Field

[0001] This invention relates to the field of agricultural technology, and in particular to a method and apparatus for calculating the width of agricultural machinery trajectories. Background Technology

[0002] Effective field operation trajectory is one of the most fundamental data in agricultural production management. The effective area calculated based on the effective trajectory directly determines the input of production materials such as seeds, fertilizers, and pesticides, and is also the main basis for calculating working hours and charging for agricultural machinery in the field.

[0003] In related technologies, the main methods for calculating the effective operating area of ​​agricultural machinery are: manual methods: using measuring tapes and compasses to calculate the operating area of ​​agricultural machinery. However, the method of manually determining the operating distance of agricultural machinery and then calculating the area is labor-intensive and material-intensive, and cannot adapt to the development trend of less manpower and unmanned operation of agricultural machinery. Moreover, manual methods are prone to false reporting and omissions, which is not conducive to the statistics and supervision of the effective operating trajectory of agricultural machinery.

[0004] In related technologies, the width of the agricultural machinery's running trajectory can be calculated, and then the distance between ridges can be calculated to determine the area of ​​agricultural machinery operation. However, how to accurately calculate the width of the agricultural machinery's running trajectory is a problem that urgently needs to be solved in this field. Summary of the Invention

[0005] This invention provides a method and apparatus for calculating the width of agricultural machinery trajectories, thereby overcoming the shortcomings of existing technologies that cannot accurately calculate the width of agricultural machinery trajectories.

[0006] This invention provides a method for calculating the width of agricultural machinery tracks, comprising:

[0007] Obtain a set of agricultural machinery trajectory point information corresponding to the target farmland area, wherein each agricultural machinery trajectory point information in the set includes agricultural machinery positioning information, positioning time information, and agricultural machinery working angle information;

[0008] Based on the agricultural machinery working angle information of each of the agricultural machinery trajectory point information, determine the turning agricultural machinery trajectory point information and the working ridge agricultural machinery trajectory point information in the agricultural machinery trajectory point information set;

[0009] Based on the positioning time information of each turning agricultural machinery trajectory point information and the working ridge agricultural machinery trajectory point information, determine the set of working ridge agricultural machinery trajectory point information corresponding to each working ridge;

[0010] Based on the agricultural machinery positioning information in the agricultural machinery trajectory point information set corresponding to each work ridge, the width information of the agricultural machinery trajectory is calculated.

[0011] According to the present invention, a method for calculating the width of agricultural machinery trajectory is provided, wherein determining the trajectory information of each turning agricultural machinery and the trajectory information of the working ridge agricultural machinery in the set of agricultural machinery trajectory point information based on the working angle information of each agricultural machinery trajectory point includes:

[0012] Based on the agricultural machinery working angle information, the trajectory point information of each agricultural machinery is divided into multiple angle intervals, wherein the angle interval of each angle interval is equal;

[0013] Based on the number of agricultural machinery trajectory points in each angle interval, the angle intervals are sorted to obtain the sorting information for each angle interval.

[0014] Based on the sorting information of each angle interval, the target angle interval and other angle intervals in each angle interval are determined, wherein the other angle intervals are the angle intervals other than the target angle interval in each angle interval.

[0015] The agricultural machinery trajectory point information in the target angle range is used as the agricultural machinery trajectory point information for the working ridge, and the agricultural machinery trajectory point information in other angle ranges is used as the agricultural machinery trajectory point information for turning around.

[0016] According to the present invention, a method for calculating the width of agricultural machinery trajectories includes determining the set of agricultural machinery trajectory point information corresponding to each working ridge based on the positioning time information of each turning agricultural machinery trajectory point and the working ridge agricultural machinery trajectory point information, comprising:

[0017] Based on the positioning time information, the trajectory point information of each turning agricultural machinery and the trajectory point information of the working ridge agricultural machinery are sorted by time to obtain a time-sorted sequence of trajectory point information.

[0018] Based on the track point information of each turning track point in the track point information sequence, the set of agricultural machinery track point information corresponding to each working ridge is determined.

[0019] According to a method for calculating the width of an agricultural machinery trajectory provided by the present invention, the step of calculating the width information of the agricultural machinery trajectory based on the agricultural machinery positioning information in the agricultural machinery trajectory point information set corresponding to each work ridge includes:

[0020] The positioning information of agricultural machinery in the set of agricultural machinery trajectory points corresponding to each working ridge is fitted with a univariate linear fit to obtain the positioning trajectory of each working ridge.

[0021] Based on the slope information of each of the positioning trajectories, abnormal positioning trajectories in each of the positioning trajectories are determined;

[0022] The positioning information of each agricultural machine in the abnormal positioning trajectory is corrected to the end point of the adjacent positioning trajectory to obtain the corrected positioning trajectory. The adjacent positioning trajectory refers to the positioning trajectory that is close to the abnormal positioning trajectory.

[0023] Based on the corrected positioning trajectories, the width information of the agricultural machinery trajectory is calculated.

[0024] According to the method for calculating the width of agricultural machinery trajectory provided by the present invention, the step of obtaining the set of agricultural machinery trajectory point information corresponding to the target farmland area includes:

[0025] Obtain information on the trajectory points of each agricultural machinery in the target area;

[0026] Cluster analysis is performed on the various agricultural machinery trajectory point information to obtain the agricultural machinery trajectory point information set corresponding to the target farmland area and the agricultural machinery trajectory point information set corresponding to other farmland areas.

[0027] According to the method for calculating the width of agricultural machinery trajectory provided by the present invention, the step of obtaining the information of each agricultural machinery trajectory point in the target area includes:

[0028] Obtain initial information of each agricultural machinery trajectory point in the target area;

[0029] Data cleaning is performed on the initial information of each agricultural machinery trajectory point to determine the information of each agricultural machinery trajectory point in the target area.

[0030] The present invention also provides a wide-range calculation device for agricultural machinery trajectory, comprising:

[0031] The acquisition module is used to acquire a set of agricultural machinery trajectory point information corresponding to the target farmland area, wherein each agricultural machinery trajectory point information in the set of agricultural machinery trajectory point information includes agricultural machinery positioning information, positioning time information and agricultural machinery working angle information;

[0032] The first determining module is used to determine, based on the agricultural machinery working angle information of each of the agricultural machinery trajectory point information, the trajectory point information of each turning agricultural machinery and the trajectory point information of the working ridge agricultural machinery in the agricultural machinery trajectory point information set;

[0033] The second determining module is used to determine the set of agricultural machinery trajectory points for each working ridge based on the positioning time information of each turning agricultural machinery trajectory point information and the agricultural machinery trajectory point information of each working ridge.

[0034] The calculation module is used to calculate the width information of the agricultural machinery trajectory based on the agricultural machinery positioning information in the agricultural machinery trajectory point information set corresponding to each work ridge.

[0035] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the wide-range calculation method for agricultural machinery trajectory as described above.

[0036] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the wide-range calculation method for agricultural machinery trajectory as described above.

[0037] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the wide-range calculation method for agricultural machinery trajectory as described above.

[0038] This invention provides a method and apparatus for calculating the width of agricultural machinery trajectories. By analyzing the turning motion characteristics of agricultural machinery when operating in farmland, the working angle information of each agricultural machinery trajectory point is analyzed to distinguish between the trajectory points of each turning agricultural machinery and the trajectory points of the working ridges. This effectively determines the set of agricultural machinery trajectory points corresponding to each working ridge. Then, the positioning information of the agricultural machinery in the set of agricultural machinery trajectory points of the working ridges is corrected to ultimately determine the accurate width information of the agricultural machinery trajectory. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0040] Figure 1 This is a schematic flowchart of the method for calculating the width of agricultural machinery trajectory provided in an embodiment of this application;

[0041] Figure 2 This is a schematic diagram of the agricultural machinery trajectory point information set provided in the embodiments of this application;

[0042] Figure 3 This is a schematic diagram illustrating the trajectory point information of agricultural machinery operating on the ridge and the trajectory point information of agricultural machinery turning around, provided in the embodiments of this application.

[0043] Figure 4 This is a schematic diagram of the positioning trajectory provided in the embodiments of this application;

[0044] Figure 5 This is a schematic diagram of the trajectory after removing abnormal positioning trajectories provided in the embodiments of this application;

[0045] Figure 6This is a schematic diagram of trajectory point information for determining width information provided in the embodiments of this application;

[0046] Figure 7 This is a schematic diagram of the structure of the wide-range calculation device for agricultural machinery trajectory provided in an embodiment of this application;

[0047] Figure 8 This is a schematic diagram of the physical structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0049] Figure 1 This is a schematic flowchart of the method for calculating the width of agricultural machinery trajectory provided in an embodiment of this application, as shown below. Figure 1 As shown, it includes:

[0050] Step 110: Obtain the set of agricultural machinery trajectory point information corresponding to the target farmland area, wherein each agricultural machinery trajectory point information in the set of agricultural machinery trajectory point information includes agricultural machinery positioning information, positioning time information and agricultural machinery working angle information;

[0051] Specifically, the target farmland area described in the embodiments of this application can be a target farmland area selected by the user from multiple farmland areas, or it can be a target farmland area randomly selected from multiple farmland areas.

[0052] The target farmland area described in this application embodiment refers to the area where agricultural machinery has been operated, and the set of agricultural machinery trajectory point information consisting of multiple agricultural machinery trajectory point information within the target farmland area.

[0053] In this embodiment of the application, the set of agricultural machinery trajectory point information corresponding to the target farmland area can be obtained from the historical data of agricultural operations stored in the agricultural machinery storage device.

[0054] Each of the agricultural machinery trajectory point information described in this application embodiment includes agricultural machinery positioning information, positioning time information, and agricultural machinery working angle information. The agricultural machinery positioning information can specifically be information used to identify the position of the agricultural machinery during operation, which can be obtained by the agricultural machinery through satellite positioning equipment during operation. The positioning time information can specifically be the time information when the agricultural machinery positioning information is obtained. The agricultural machinery working angle information is the working angle information measured by the agricultural machinery through devices such as gyroscopes during operation.

[0055] Step 120: Based on the agricultural machinery working angle information of each of the agricultural machinery trajectory point information, determine the turning agricultural machinery trajectory point information and the working ridge agricultural machinery trajectory point information in the agricultural machinery trajectory point information set;

[0056] During agricultural machinery operation, the trajectory points should be distributed in two directions. When operating within the farmland, the machinery follows the direction of the ridges, and the trajectory points within a ridge should have the same direction. In the turning area, the machinery turns clockwise or counterclockwise, resulting in a 180° rotation of the trajectory. Therefore, this characteristic can be used to effectively distinguish between the trajectory points of turning machinery within the farmland and the trajectory points of the machinery operating on the ridges. This allows for the calculation of the distance between ridges and further calculation of the agricultural machinery's operating area.

[0057] Step 130: Based on the positioning time information of each turning agricultural machinery trajectory point information and the agricultural machinery trajectory point information of the working ridge, determine the set of agricultural machinery trajectory point information corresponding to each working ridge;

[0058] Specifically, in this embodiment of the application, after distinguishing between the trajectory point information of turning agricultural machinery and the trajectory point information of agricultural machinery on the working ridge, it is still impossible to further determine which trajectory point information of agricultural machinery on the working ridge belongs to a working ridge. Therefore, in this embodiment of the application, it is necessary to further distinguish the set of agricultural machinery trajectory point information of each working ridge.

[0059] In this embodiment, the trajectory point information of turning agricultural machinery and the trajectory point information of working ridge agricultural machinery are sorted based on the positioning time information. Then, the trajectory point information of working ridge agricultural machinery between the trajectory point information of turning agricultural machinery is divided into a set of trajectory point information of working ridge agricultural machinery corresponding to a working ridge, thereby obtaining the set of trajectory point information of working ridge agricultural machinery corresponding to each working ridge.

[0060] Step 140: Calculate the width information of the agricultural machinery trajectory based on the agricultural machinery positioning information in the agricultural machinery trajectory point information set corresponding to each work ridge.

[0061] Specifically, although the width of the agricultural machinery can be roughly calculated using the width calculation method based on the agricultural machinery positioning information in the set of agricultural machinery trajectory points corresponding to each work ridge, the irregularity of the trajectory points caused by various factors such as signal and environment when the Beidou terminal acquires data can lead to errors in calculating the width, which may be too large or too small. Therefore, in this embodiment, the agricultural machinery positioning information will be further corrected, and then the width information of the agricultural machinery trajectory will be calculated based on the corrected data, thereby ensuring the accuracy of the final calculated width information.

[0062] In this embodiment, by analyzing the turning motion characteristics of agricultural machinery when operating in farmland, the working angle information of each agricultural machinery trajectory point is analyzed to distinguish between the turning agricultural machinery trajectory point information and the working ridge agricultural machinery trajectory point information, thereby effectively determining the set of working ridge agricultural machinery trajectory point information corresponding to each working ridge. Then, the agricultural machinery positioning information in the set of working ridge agricultural machinery trajectory point information is corrected, and finally, the accurate width information of the agricultural machinery trajectory is effectively determined.

[0063] Optionally, determining the turning trajectory point information and the working ridge trajectory point information of each agricultural machinery trajectory point in the set of agricultural machinery trajectory point information based on the agricultural machinery working angle information of each of the agricultural machinery trajectory point information includes:

[0064] Based on the agricultural machinery working angle information, the trajectory point information of each agricultural machinery is divided into multiple angle intervals, wherein the angle interval of each angle interval is equal;

[0065] Based on the number of agricultural machinery trajectory points in each angle interval, the angle intervals are sorted to obtain the sorting information for each angle interval.

[0066] Based on the sorting information of each angle interval, the target angle interval and other angle intervals in each angle interval are determined, wherein the other angle intervals are the angle intervals other than the target angle interval in each angle interval.

[0067] The agricultural machinery trajectory point information in the target angle range is used as the agricultural machinery trajectory point information for the working ridge, and the agricultural machinery trajectory point information in other angle ranges is used as the agricultural machinery trajectory point information for turning around.

[0068] Specifically, the angle intervals described in the embodiments of this application can be pre-set angle intervals, and the angle intervals described in the embodiments of this application are the difference between the maximum and minimum angle values ​​of the angle interval. For example, if each 10° is used as an angle interval, the agricultural machinery trajectory point information can be distributed between ([0,10],[10,20]...[350,360]). When the agricultural machinery working angle information is 6°, the agricultural machinery trajectory point information should be divided between [0,10].

[0069] Figure 2 This is a schematic diagram of the agricultural machinery trajectory point information set provided in the embodiments of this application, such as... Figure 2 As shown in the figure, the points are all agricultural machinery trajectory points. Figure 3 This is a schematic diagram illustrating the trajectory point information of the agricultural machinery used for ridge work and the trajectory point information of the agricultural machinery used for turning around, as provided in the embodiments of this application. Figure 3 As shown in the figure, the dots represent the trajectory points of agricultural machinery operating on the ridge, and the pentagrams represent the trajectory points of agricultural machinery turning around.

[0070] In this embodiment of the application, after determining multiple angle intervals, the agricultural machinery is further divided into various angle intervals according to the working angle information of each agricultural machinery trajectory point information. Then, the number of agricultural machinery trajectory point information in each angle interval is counted, the number of points in each angle interval is ranked, and the top N groups are selected as target angle intervals. The agricultural machinery trajectory point information in the target angle intervals is used as the agricultural machinery trajectory point information for the working ridge, and the rest are used as other angle intervals. The agricultural machinery trajectory point information in other angle intervals is used as the agricultural machinery trajectory point information for turning around.

[0071] For example, the number of points distributed in the [10,20] interval is the largest, and the number of points in the [190,200] interval ranks second. According to the characteristics of agricultural machinery operation, the difference between the trajectory points of one ridge and another ridge should be 180°. It can be determined that the first and second ranked interval points of the direction interval should be the operation direction distribution of the ridges in this field, and the remaining trajectory points are marked as turning around.

[0072] In this embodiment of the application, by analyzing the working angle information of agricultural machinery at each agricultural machinery trajectory point, it is possible to effectively distinguish between the trajectory point information of agricultural machinery operating on the ridge and the trajectory point information of agricultural machinery turning around, which is beneficial for subsequent calculation and analysis.

[0073] Optionally, determining the set of agricultural machinery trajectory points for each working ridge based on the positioning time information of each of the turning agricultural machinery trajectory points and the working ridge agricultural machinery trajectory points includes:

[0074] Based on the positioning time information, the trajectory point information of each turning agricultural machinery and the trajectory point information of the working ridge agricultural machinery are sorted by time to obtain a time-sorted sequence of trajectory point information.

[0075] Based on the track point information of each turning track point in the track point information sequence, the set of agricultural machinery track point information corresponding to each working ridge is determined.

[0076] Specifically, in this embodiment of the application, after filtering out the trajectory point information of the agricultural machinery on the working ridge, it is still impossible to distinguish each independent working ridge. This is because in this embodiment of the application, the trajectory point information of each turning agricultural machinery and the trajectory point information of the agricultural machinery on the working ridge can be sorted by time according to the positioning time information to obtain a sorted sequence of trajectory point information. Then, the ridge trajectory point information between each turning trajectory point information in the trajectory point information sequence is determined, thereby determining the set of agricultural machinery trajectory point information of each working ridge.

[0077] If the results of the previous step are marked and reordered, the trajectory points between the previous ridge and the next ridge are the turning trajectory point information; the trajectory points before and after each turning trajectory point information should be the trajectory points of the ridge, and based on this, each individual ridge can be distinguished.

[0078] For example, if the track point information of the agricultural machinery on the working ridge is marked as 1 and the track point information of the agricultural machinery turning around is marked as 0, the resulting sequence of track point information is 0011111111110000. Then, the consecutive track point information of the agricultural machinery on the working ridge marked as 1 between the 0 marks is determined to belong to the same working ridge.

[0079] In this embodiment of the application, each individual work ridge is distinguished by the time-sorted sequence of trajectory point information, and the set of agricultural machinery trajectory point information corresponding to each work ridge is determined, which helps in the subsequent width calculation.

[0080] Optionally, the step of calculating the width information of the agricultural machinery trajectory based on the agricultural machinery positioning information in the agricultural machinery trajectory point information set corresponding to each work ridge includes:

[0081] The positioning information of agricultural machinery in the set of agricultural machinery trajectory points corresponding to each working ridge is fitted with a univariate linear fit to obtain the positioning trajectory of each working ridge.

[0082] Based on the slope information of each of the positioning trajectories, abnormal positioning trajectories in each of the positioning trajectories are determined;

[0083] The positioning information of each agricultural machine in the abnormal positioning trajectory is corrected to the end point of the adjacent positioning trajectory to obtain the corrected positioning trajectory. The adjacent positioning trajectory refers to the positioning trajectory that is close to the abnormal positioning trajectory.

[0084] Based on the corrected positioning trajectories, the width information of the agricultural machinery trajectory is calculated.

[0085] Specifically, in the embodiments of this application, although the width calculation method can roughly calculate the width of the agricultural machinery, the trajectory points are irregular due to various factors such as signal and environment when the Beidou terminal acquires data, which may lead to errors in calculating the width that are too large or too small. To address this error, a linear regression model is used to perform univariate linear fitting on the points of the work ridge, which can further obtain the positioning trajectory of each work ridge.

[0086] Although linear fitting can effectively avoid the problem of uneven trajectory acquisition between working ridges, because the agricultural machinery is interfered with during operation, there will be trajectory points that deviate from the current ridge in a working ridge. The slope of the linearly fitted positioning trajectory will deviate significantly from the distribution of the current ridge, which will affect the accuracy of the width calculation. Therefore, in this application, abnormal positioning trajectories in each positioning trajectory will be determined based on the slope information of each positioning trajectory.

[0087] Figure 4 This is a schematic diagram of the positioning trajectory provided in the embodiments of this application, such as... Figure 4 As shown, there is a horizontal abnormal positioning trajectory. After determining the abnormal positioning trajectory, Figure 5 This is a schematic diagram of the trajectory after removing abnormal positioning trajectories provided in the embodiments of this application, such as... Figure 5 As shown, abnormal positioning trajectories have been removed from the trajectory diagram.

[0088] In this embodiment of the application, after determining the abnormal positioning trajectory, it is necessary to correct the abnormal positioning trajectory. The specific correction method is as follows: fit all the positioning trajectories of this farmland to obtain a slope array, find the abnormal slope in the array by constructing a confidence interval, determine the abnormal positioning trajectory, and finally correct this abnormal positioning trajectory to the middle position of the two adjacent positioning trajectories. Specifically, the correction should be: take the slope parallel to the two adjacent positioning trajectories. Figure 6 This is a schematic diagram of trajectory point information for determining width information provided in the embodiments of this application, such as... Figure 6 As shown, take 1 / 2 of the distance between two adjacent positioning trajectories (i.e. Figure 6 The triangular point in the line is used as the intercept of the line; this completes the correction of the abnormal positioning trajectory, and finally the corrected positioning trajectories are obtained. Then, based on the modified positioning trajectories, the width information of the agricultural machinery trajectory is calculated.

[0089] In this embodiment of the application, in order to avoid errors caused by directly analyzing the agricultural machinery positioning information in the agricultural machinery trajectory point information set, a multi-step correction method is used to further avoid errors caused by abnormal positioning trajectories, which can effectively ensure the accuracy of the final positioning trajectory, and thus ensure the accuracy of the width information of the agricultural machinery trajectory calculation.

[0090] Optionally, obtaining the set of agricultural machinery trajectory point information corresponding to the target farmland area includes:

[0091] Obtain information on the trajectory points of each agricultural machinery in the target area;

[0092] Cluster analysis is performed on the various agricultural machinery trajectory point information to obtain the agricultural machinery trajectory point information set corresponding to the target farmland area and the agricultural machinery trajectory point information set corresponding to other farmland areas.

[0093] Specifically, the target area described in the embodiments of this application may refer to a work area randomly selected by the system or a work area selected by the user.

[0094] Because agricultural machinery may move from one farmland area to another during operation, in order to better analyze the situation of each farmland, it is necessary to further cluster the farmland to divide it into different farmland areas and determine the set of agricultural machinery trajectory point information corresponding to each farmland area.

[0095] The clustering method in this application embodiment can be a conventional clustering method, and this embodiment of the invention does not limit it.

[0096] In this embodiment, by performing cluster analysis on the information of each agricultural machinery trajectory point, it is possible to effectively divide each farmland area and obtain the set of agricultural machinery trajectory point information corresponding to the target farmland area and the set of agricultural machinery trajectory point information corresponding to other farmland areas.

[0097] Optionally, obtaining the information of each agricultural machinery trajectory point in the target area includes:

[0098] Obtain initial information of each agricultural machinery trajectory point in the target area;

[0099] Data cleaning is performed on the initial information of each agricultural machinery trajectory point to determine the information of each agricultural machinery trajectory point in the target area.

[0100] Specifically, during the collection of agricultural machinery operation trajectories, GPS positioning instruments often encounter sampling errors such as resampling and stationary trajectories. In order to avoid the sampling errors affecting subsequent classification methods, the data needs to be cleaned in advance.

[0101] The data cleaning described in this application embodiment can be specifically categorized as follows: Resampling type: Cleaning up points with a time interval of 0 seconds between two points, retaining the first point. Static trajectory type: Cleaning up points with the same latitude and longitude and a velocity of 0, retaining the first point. Resampling type: Cleaning up consecutive points with the same latitude and longitude and a non-zero velocity, retaining the first point. Static drift type: Cleaning up consecutive points with different latitude and longitude and a velocity of 0, retaining the first point. Latitude and longitude anomaly type: Since the data collection area covers multiple provinces and cities in China, if the latitude and longitude range exceeds the scope of China, the collected points will be considered to have latitude and longitude anomalies and need to be cleaned up by direct deletion.

[0102] In this embodiment of the application, by cleaning the initial information of each agricultural machinery trajectory point in the target area, the accuracy of the data can be effectively improved.

[0103] The following describes the width calculation device for agricultural machinery trajectory provided by the present invention. The width calculation device for agricultural machinery trajectory described below and the width calculation method for agricultural machinery trajectory described above can be referred to in correspondence.

[0104] Figure 7 This is a schematic diagram of the structure of the wide-range calculation device for agricultural machinery trajectory provided in the embodiments of this application, as shown below. Figure 7 As shown, it includes: an acquisition module 710, a first determination module 720, a second determination module 730, and a calculation module 740; wherein, the acquisition module 710 is used to acquire a set of agricultural machinery trajectory point information corresponding to the target farmland area, wherein each agricultural machinery trajectory point information in the set includes agricultural machinery positioning information, positioning time information, and agricultural machinery working angle information; wherein, the first determination module 720 is used to determine each turning agricultural machinery trajectory point information and the working ridge agricultural machinery trajectory point information in the set of agricultural machinery trajectory point information based on the agricultural machinery working angle information of each agricultural machinery trajectory point information; wherein, the second determination module 730 is used to determine the set of working ridge agricultural machinery trajectory point information corresponding to each working ridge based on the positioning time information of each turning agricultural machinery trajectory point information and the working ridge agricultural machinery trajectory point information; wherein, the calculation module 740 is used to calculate the width information of the agricultural machinery trajectory based on the agricultural machinery positioning information in the set of working ridge agricultural machinery trajectory point information corresponding to each working ridge.

[0105] Optionally, the first determining module is specifically used for:

[0106] Based on the agricultural machinery working angle information, the trajectory point information of each agricultural machinery is divided into multiple angle intervals, wherein the angle interval of each angle interval is equal;

[0107] Based on the number of agricultural machinery trajectory points in each angle interval, the angle intervals are sorted to obtain the sorting information for each angle interval.

[0108] Based on the sorting information of each angle interval, the target angle interval and other angle intervals in each angle interval are determined, wherein the other angle intervals are the angle intervals other than the target angle interval in each angle interval.

[0109] The agricultural machinery trajectory point information in the target angle range is used as the agricultural machinery trajectory point information for the working ridge, and the agricultural machinery trajectory point information in other angle ranges is used as the agricultural machinery trajectory point information for turning around.

[0110] Optionally, the second determining module is specifically used for:

[0111] Based on the positioning time information, the trajectory point information of each turning agricultural machinery and the trajectory point information of the working ridge agricultural machinery are sorted by time to obtain a time-sorted sequence of trajectory point information.

[0112] Based on the track point information of each turning track point in the track point information sequence, the set of agricultural machinery track point information corresponding to each working ridge is determined.

[0113] Optionally, the computing module is specifically used for:

[0114] The positioning information of agricultural machinery in the set of agricultural machinery trajectory points corresponding to each working ridge is fitted with a univariate linear fit to obtain the positioning trajectory of each working ridge.

[0115] Based on the slope information of each of the positioning trajectories, abnormal positioning trajectories in each of the positioning trajectories are determined;

[0116] The positioning information of each agricultural machine in the abnormal positioning trajectory is corrected to the end point of the adjacent positioning trajectory to obtain the corrected positioning trajectory. The adjacent positioning trajectory refers to the positioning trajectory that is close to the abnormal positioning trajectory.

[0117] Based on the corrected positioning trajectories, the width information of the agricultural machinery trajectory is calculated.

[0118] Optionally, the device is further used for:

[0119] Obtain information on the trajectory points of each agricultural machinery in the target area;

[0120] Cluster analysis is performed on the various agricultural machinery trajectory point information to obtain the agricultural machinery trajectory point information set corresponding to the target farmland area and the agricultural machinery trajectory point information set corresponding to other farmland areas.

[0121] Optionally, the device is further used for:

[0122] Obtain initial information of each agricultural machinery trajectory point in the target area;

[0123] Data cleaning is performed on the initial information of each agricultural machinery trajectory point to determine the information of each agricultural machinery trajectory point in the target area.

[0124] Figure 8 This is a schematic diagram of the physical structure of the electronic device provided in the embodiments of this application, such as... Figure 8As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830, and a communication bus 840, wherein the processor 810, the communication interface 820, and the memory 830 communicate with each other through the communication bus 840. The processor 810 can call logical instructions in the memory 830 to execute a method for calculating the width of agricultural machinery trajectories. This method includes: acquiring a set of agricultural machinery trajectory point information corresponding to a target farmland area, wherein each agricultural machinery trajectory point information in the set includes agricultural machinery positioning information, positioning time information, and agricultural machinery working angle information; determining, based on the agricultural machinery working angle information of each agricultural machinery trajectory point, each turning agricultural machinery trajectory point information and each working ridge agricultural machinery trajectory point information in the set; determining, based on the positioning time information of each turning agricultural machinery trajectory point information and each working ridge agricultural machinery trajectory point information, a set of working ridge agricultural machinery trajectory point information corresponding to each working ridge; and calculating the width of the agricultural machinery trajectory based on the agricultural machinery positioning information in the set of working ridge agricultural machinery trajectory point information corresponding to each working ridge.

[0125] Furthermore, the logical instructions in the aforementioned memory 830 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0126] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the method for calculating the width of agricultural machinery trajectory provided by the above methods. The method includes: obtaining a set of agricultural machinery trajectory point information corresponding to a target farmland area, wherein each agricultural machinery trajectory point information in the set includes agricultural machinery positioning information, positioning time information, and agricultural machinery working angle information; determining each turning agricultural machinery trajectory point information and each working ridge agricultural machinery trajectory point information in the set based on the agricultural machinery working angle information of each agricultural machinery trajectory point information; determining a set of working ridge agricultural machinery trajectory point information corresponding to each working ridge based on the positioning time information of each turning agricultural machinery trajectory point information and the working ridge agricultural machinery trajectory point information; and calculating the width information of the agricultural machinery trajectory based on the agricultural machinery positioning information in the set of working ridge agricultural machinery trajectory point information corresponding to each working ridge.

[0127] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements a method for calculating the width of agricultural machinery trajectories provided by the above methods. The method includes: acquiring a set of agricultural machinery trajectory point information corresponding to a target farmland area, wherein each agricultural machinery trajectory point information in the set includes agricultural machinery positioning information, positioning time information, and agricultural machinery working angle information; determining, based on the agricultural machinery working angle information of each agricultural machinery trajectory point, each turning agricultural machinery trajectory point information and each working ridge agricultural machinery trajectory point information in the set; determining, based on the positioning time information of each turning agricultural machinery trajectory point information and each working ridge agricultural machinery trajectory point information, a set of working ridge agricultural machinery trajectory point information corresponding to each working ridge; and calculating the width information of the agricultural machinery trajectory based on the agricultural machinery positioning information in the set of working ridge agricultural machinery trajectory point information corresponding to each working ridge.

[0128] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0129] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0130] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for calculating the width of an agricultural machinery trajectory, characterized in that, include: Obtain a set of agricultural machinery trajectory point information corresponding to the target farmland area, wherein each agricultural machinery trajectory point information in the set includes agricultural machinery positioning information, positioning time information, and agricultural machinery working angle information; Based on the agricultural machinery working angle information of each of the agricultural machinery trajectory point information, determine the turning agricultural machinery trajectory point information and the working ridge agricultural machinery trajectory point information in the agricultural machinery trajectory point information set; Based on the positioning time information of each turning agricultural machinery trajectory point information and the working ridge agricultural machinery trajectory point information, determine the set of working ridge agricultural machinery trajectory point information corresponding to each working ridge; Based on the agricultural machinery positioning information in the agricultural machinery trajectory point information set corresponding to each work ridge, the width information of the agricultural machinery trajectory is calculated.

2. The method for calculating the width of agricultural machinery trajectory according to claim 1, characterized in that, The determination of each turning agricultural machinery trajectory point and the working ridge agricultural machinery trajectory point information in the agricultural machinery trajectory point information set based on the agricultural machinery working angle information of each of the agricultural machinery trajectory point information includes: Based on the agricultural machinery working angle information, the trajectory point information of each agricultural machinery is divided into multiple angle intervals, wherein the angle interval of each angle interval is equal; Based on the number of agricultural machinery trajectory points in each angle interval, the angle intervals are sorted to obtain the sorting information for each angle interval. Based on the sorting information of each angle interval, the target angle interval and other angle intervals in each angle interval are determined, wherein the other angle intervals are the angle intervals other than the target angle interval in each angle interval. The agricultural machinery trajectory point information in the target angle range is used as the agricultural machinery trajectory point information for the working ridge, and the agricultural machinery trajectory point information in other angle ranges is used as the agricultural machinery trajectory point information for turning around.

3. The method for calculating the width of agricultural machinery trajectory according to claim 1, characterized in that, The determination of the set of agricultural machinery trajectory points for each work ridge based on the positioning time information of each turning agricultural machinery trajectory point and the work ridge agricultural machinery trajectory point information includes: Based on the positioning time information, the trajectory point information of each turning agricultural machinery and the trajectory point information of the working ridge agricultural machinery are sorted by time to obtain a time-sorted sequence of trajectory point information. Based on the track point information of each turning track point in the track point information sequence, the set of agricultural machinery track point information corresponding to each working ridge is determined.

4. The method for calculating the width of agricultural machinery trajectory according to claim 1, characterized in that, The calculation of the width information of the agricultural machinery trajectory based on the agricultural machinery positioning information in the agricultural machinery trajectory point information set corresponding to each work ridge includes: The positioning information of agricultural machinery in the set of agricultural machinery trajectory points corresponding to each working ridge is fitted with a univariate linear fit to obtain the positioning trajectory of each working ridge. Based on the slope information of each of the positioning trajectories, abnormal positioning trajectories in each of the positioning trajectories are determined; The positioning information of each agricultural machine in the abnormal positioning trajectory is corrected to the end point of the adjacent positioning trajectory to obtain the corrected positioning trajectory. The adjacent positioning trajectory refers to the positioning trajectory that is close to the abnormal positioning trajectory. Based on the corrected positioning trajectories, the width information of the agricultural machinery trajectory is calculated.

5. The method for calculating the width of agricultural machinery trajectory according to claim 1, characterized in that, The acquisition of the set of agricultural machinery trajectory point information corresponding to the target farmland area includes: Obtain information on the trajectory points of each agricultural machinery in the target area; Cluster analysis is performed on the various agricultural machinery trajectory point information to obtain the agricultural machinery trajectory point information set corresponding to the target farmland area and the agricultural machinery trajectory point information set corresponding to other farmland areas.

6. The method for calculating the width of agricultural machinery trajectory according to claim 5, characterized in that, The acquisition of information on the trajectory points of each agricultural machinery in the target area includes: Obtain initial information of each agricultural machinery trajectory point in the target area; Data cleaning is performed on the initial information of each agricultural machinery trajectory point to determine the information of each agricultural machinery trajectory point in the target area.

7. A wide-range calculation device for agricultural machinery trajectory, characterized in that, include: The acquisition module is used to acquire a set of agricultural machinery trajectory point information corresponding to the target farmland area, wherein each agricultural machinery trajectory point information in the set of agricultural machinery trajectory point information includes agricultural machinery positioning information, positioning time information and agricultural machinery working angle information; The first determining module is used to determine, based on the agricultural machinery working angle information of each of the agricultural machinery trajectory point information, the trajectory point information of each turning agricultural machinery and the trajectory point information of the working ridge agricultural machinery in the agricultural machinery trajectory point information set; The second determining module is used to determine the set of agricultural machinery trajectory points for each working ridge based on the positioning time information of each turning agricultural machinery trajectory point information and the agricultural machinery trajectory point information of each working ridge. The calculation module is used to calculate the width information of the agricultural machinery trajectory based on the agricultural machinery positioning information in the agricultural machinery trajectory point information set corresponding to each work ridge.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the method for calculating the width of the agricultural machinery trajectory as described in any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the wide-range calculation method for the agricultural machinery trajectory as described in any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the wide-range calculation method for the agricultural machinery trajectory as described in any one of claims 1 to 6.

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