Method and device for determining state of spatial running track of agricultural machine, and electronic equipment

Abstract

The application provides a kind of agricultural machinery space running track state determination method, device and electronic equipment, belong to computer technical field, the method includes: obtaining the operation width of agricultural machinery and each track point data;For each track point, based on the plane coordinates of target track point and the plane coordinates of next track point, determine detection window based on operation width;Determine the track point set corresponding to each track point;For each track point, based on the collection time of each track point in the track point set corresponding to target track point, determine the number of continuous track line segments in the detection window of target track point based on preset collection time interval;Based on the speed of each track point and the number of continuous track line segments in detection window, determine the state of agricultural machinery corresponding to each track point.By obtaining each track point data and determining the number of continuous track line segments in the detection window of each track point, the state of agricultural machinery space running track can be determined efficiently and accurately.

Description

Technical Field

[0001] This invention relates to the field of computer technology, and in particular to a method, device, and electronic device for determining the spatial trajectory status of agricultural machinery. Background Technology

[0002] With the development of agricultural machinery informatization and the promotion of "Internet + agricultural machinery," agricultural machinery is now generally equipped with positioning terminals based on the Global Navigation Satellite System (GNSS). These terminals collect information such as the GNSS position, azimuth angle, and GNSS speed of agricultural machinery operations. This makes it possible to use data mining methods to statistically analyze the area of ​​agricultural machinery operations. The spatial trajectory status of agricultural machinery is the basis for measuring the area of ​​agricultural machinery operations. Typical agricultural machinery states include three types: resting, transferring, and field operation. Accurately determining the spatial trajectory status of agricultural machinery is a pressing technical problem that needs to be solved. Summary of the Invention

[0003] To address the problems existing in the prior art, embodiments of the present invention provide a method, device, and electronic device for determining the spatial operating trajectory status of agricultural machinery.

[0004] In a first aspect, the present invention provides a method for determining the spatial operating trajectory status of agricultural machinery, comprising:

[0005] For agricultural machinery operation, the working width and trajectory point data of the agricultural machinery are acquired. The trajectory point data includes the acquisition time, speed and the plane coordinates of the trajectory point's latitude and longitude projected on the plane coordinate system. The trajectory points are collected by the satellite positioning module on the agricultural machinery, based on a preset acquisition time interval, by periodically monitoring the agricultural machinery.

[0006] For each trajectory point, a detection window for the target trajectory point is determined based on the working width, the planar coordinates of the target trajectory point, and the planar coordinates of the next trajectory point. The detection window is square in shape, and its center is determined based on the planar coordinates of the target trajectory point. The direction of the detection window is from the target trajectory point to the next trajectory point. The size of the detection window can cover at least four working widths. The target trajectory point is any one of multiple trajectory points. The acquisition time of the next trajectory point is after the acquisition time of the target trajectory point, and the acquisition time of the next trajectory point differs from the acquisition time of the target trajectory point by a preset acquisition time interval.

[0007] For each trajectory point's detection window, analyze the trajectory points within the target trajectory point's detection window to determine the set of trajectory points corresponding to the target trajectory point.

[0008] For each trajectory point set corresponding to a trajectory point, the number of continuous trajectory segments within the detection window of the target trajectory point is determined based on the preset acquisition time interval and the acquisition time of each trajectory point in the trajectory point set corresponding to the target trajectory point.

[0009] Based on the speed of each trajectory point and the number of continuous trajectory segments within the detection window of each trajectory point, the agricultural machinery status corresponding to each trajectory point is determined, which is either a stopped state, a transfer state, or a field operation state.

[0010] Optionally, according to the method for determining the spatial operating trajectory state of agricultural machinery provided by the present invention, determining the detection window of the target trajectory point based on the working width, the planar coordinates of the target trajectory point, and the planar coordinates of the next trajectory point includes:

[0011] Based on the planar coordinates of the target trajectory point and the planar coordinates of the next trajectory point, a window direction is determined. The window direction is used to characterize the angle between the target line and the x-axis in the planar coordinate system. The target line is determined based on the planar coordinates of the target trajectory point and the planar coordinates of the next trajectory point.

[0012] The window size is determined based on the working swath width and the positioning accuracy of the satellite positioning module;

[0013] Based on the window orientation, the window size, and the planar coordinates of the target trajectory point, determine the planar coordinates corresponding to the four window corner points respectively;

[0014] The detection window for the target trajectory point is determined based on the planar coordinates corresponding to the four window corner points.

[0015] Optionally, according to the method for determining the spatial operating trajectory state of agricultural machinery provided by the present invention, determining the window direction based on the planar coordinates of the target trajectory point and the planar coordinates of the next trajectory point includes:

[0016] The window orientation is determined using the following formula;

[0017]

[0018] Where θ represents the angle between the target line and the x-axis in the planar coordinate system, p i .x represents the x-coordinate of the target trajectory point on the x-axis in the plane coordinate system, p i .y represents the coordinates of the target trajectory point on the y-axis in the plane coordinate system, p i+1 .x represents the x-coordinate of the next trajectory point on the x-axis in the plane coordinate system, p i+1 .y represents the coordinates of the next trajectory point on the y-axis in the plane coordinate system.

[0019] Optionally, according to the method for determining the spatial operating trajectory status of agricultural machinery provided by the present invention, determining the window size based on the operating width and the positioning accuracy of the satellite positioning module includes:

[0020] The window size is determined using the following formula;

[0021] w = 2 × (2 + E) × J;

[0022] Where w represents the window width, E represents the positioning accuracy of the satellite positioning module, and J represents the operating swath width.

[0023] Optionally, according to the method for determining the spatial operating trajectory state of agricultural machinery provided by the present invention, the four window corner points include a first window corner point, a second window corner point, a third window corner point, and a fourth window corner point. The step of determining the planar coordinates corresponding to the four window corner points based on the window direction, the window size, and the planar coordinates of the target trajectory point includes:

[0024] The planar coordinates of the first window corner point are determined using the following formula for calculating the coordinates of the first window corner point.

[0025]

[0026] The planar coordinates of the corner points of the second window are determined using the following formula for calculating the corner point coordinates of the second window.

[0027]

[0028] The planar coordinates of the corner point of the third window are determined using the following formula for calculating the corner point coordinates of the third window.

[0029]

[0030] The planar coordinates of the fourth window corner point are determined using the following formula for calculating the coordinates of the fourth window corner point.

[0031]

[0032] Where A(x,y) represents the planar coordinates of the first window corner, B(x,y) represents the planar coordinates of the second window corner, C(x,y) represents the planar coordinates of the third window corner, D(x,y) represents the planar coordinates of the fourth window corner, θ represents the angle between the target line and the x-axis in the planar coordinate system, w represents the window width, and p i .x represents the x-coordinate of the target trajectory point on the x-axis in the plane coordinate system, p i .y represents the coordinates of the target trajectory point on the y-axis in the plane coordinate system.

[0033] Optionally, according to the method for determining the spatial operating trajectory state of agricultural machinery provided by the present invention, analyzing the trajectory points within the detection window of the target trajectory point and determining the set of trajectory points corresponding to the target trajectory point includes:

[0034] The trajectory points in dataset P are filtered using the following first trajectory point filtering formula to determine dataset Q;

[0035] Q = {P|P(X)} min ≤x≤X max &&Y min ≤y≤Y max )};

[0036] The trajectory points in dataset Q are filtered using the following second trajectory point filtering formula to determine the set of trajectory points corresponding to the target trajectory point;

[0037]

[0038] Where P represents the dataset consisting of all trajectory points, x and y represent the coordinates of any trajectory point in dataset P on the x-axis and y-axis, respectively, and X... min This represents the minimum x-axis coordinate of each of the four corner points of the detection window. max This represents the maximum x-axis coordinate of each of the four corner points of the detection window, and the maximum y-axis coordinate of each corner point. min This represents the minimum y-axis coordinate of each of the four corner points of the detection window. max This represents the maximum value of the y-axis coordinates corresponding to the four corner points of the detection window, and && represents the logical AND operator;

[0039] If H is true, it means that point G is inside the detection window; otherwise, point G is outside the detection window.

[0040] Points A, B, C, and D represent the four corner points of the detection window, and point G is any trajectory point in the dataset Q.

[0041] Optionally, according to the method for determining the spatial operating trajectory state of agricultural machinery provided by the present invention, the step of determining the number of continuous trajectory segments within the detection window of the target trajectory point based on a preset acquisition time interval and the acquisition time of each trajectory point in the trajectory point set corresponding to the target trajectory point includes:

[0042] The following formula for judging continuous trajectory points is used to divide each trajectory point in the trajectory point set into line segments to determine the number of continuous trajectory line segments within the detection window of the target trajectory point.

[0043] F′=p i ′ +1.tp i ′.t;

[0044] Among them, p is sorted by collection time. i ′ and p i ′ +1 Let p be any two adjacent points in the set of trajectory points. i ′ +1 Acquisition time p i ′ +1 .t is in p i The acquisition time p' i After '.t; if F'=F, then it means p i ′ and p i ′ +1 For continuous trajectory points, p i ′ and p i ′ +1 If they belong to the same continuous trajectory segment, otherwise p i ′ and p i ′ +1 For points on discontinuous trajectories, p i ′ and p i ′ +1 These belong to different continuous trajectory segments, and F represents the preset acquisition time interval.

[0045] Optionally, according to the method for determining the spatial operating trajectory status of agricultural machinery provided by the present invention, the step of determining the agricultural machinery status corresponding to each trajectory point based on the speed of each trajectory point and the number of continuous trajectory segments within the detection window of each trajectory point includes:

[0046] If the speed of the trajectory point is 0, then the agricultural machinery corresponding to the trajectory point is determined to be in a stopped state.

[0047] Alternatively, if the velocity of the trajectory point is greater than 0 and the number of continuous trajectory segments within the detection window of the trajectory point is less than 3, then the agricultural machinery status corresponding to the trajectory point is determined to be the transfer status.

[0048] Alternatively, if the velocity of the trajectory point is greater than 0 and the number of continuous trajectory segments within the detection window of the trajectory point is greater than or equal to 3, then the agricultural machinery state corresponding to the trajectory point is determined to be the field operation state.

[0049] Secondly, the present invention also provides a device for determining the spatial operating trajectory status of agricultural machinery, comprising:

[0050] The trajectory monitoring module is used to acquire the working width and trajectory point data of agricultural machinery during the operation process. The trajectory point data includes the acquisition time, speed, and the planar coordinates of the trajectory point's latitude and longitude projected on the plane coordinate system. The trajectory points are collected by the satellite positioning module on the agricultural machinery, based on a preset acquisition time interval, by periodically monitoring the agricultural machinery.

[0051] The detection window determination module is used to determine the detection window of the target trajectory point for each trajectory point based on the working width, the planar coordinates of the target trajectory point, and the planar coordinates of the next trajectory point. The detection window is square in shape, the center of the detection window is determined based on the planar coordinates of the target trajectory point, and the direction of the detection window is from the target trajectory point to the next trajectory point. The size of the detection window can cover at least 4 working widths. The target trajectory point is any one of multiple trajectory points. The acquisition time of the next trajectory point is after the acquisition time of the target trajectory point, and the acquisition time of the next trajectory point differs from the acquisition time of the target trajectory point by a preset acquisition time interval.

[0052] The trajectory point set determination module is used to analyze the trajectory points within the detection window of the target trajectory point for each trajectory point detection window, and determine the trajectory point set corresponding to the target trajectory point.

[0053] The continuous trajectory segment determination module is used to determine the number of continuous trajectory segments within the detection window of the target trajectory point based on the preset acquisition time interval and the acquisition time of each trajectory point in the trajectory point set corresponding to each trajectory point.

[0054] The trajectory point status determination module is used to determine the agricultural machinery status corresponding to each trajectory point based on the speed of each trajectory point and the number of continuous trajectory line segments within the detection window of each trajectory point. The agricultural machinery status is either a stopped state, a transfer state, or a field operation state.

[0055] Thirdly, 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 agricultural machinery spatial trajectory state determination method as described above.

[0056] The present invention provides a method, device, and electronic device for determining the spatial operating trajectory status of agricultural machinery. By acquiring the operating width of the agricultural machinery and data of each trajectory point, and determining the number of continuous trajectory segments within the detection window of each trajectory point, the method can determine whether the agricultural machinery corresponding to the trajectory point is in a stopped or non-stop state based on the speed of the trajectory point. Furthermore, when the agricultural machinery corresponding to the trajectory point is in a non-stop state, considering that the number of continuous trajectory segments within the detection window of the trajectory point in the transport state is always less than the number of continuous trajectory segments within the detection window of the trajectory point in the field operation state, a quantity threshold can be set and the relationship between the number of continuous trajectory segments within the detection window of the trajectory point and the quantity threshold can be analyzed to determine whether the agricultural machinery corresponding to the trajectory point is in a transport state or a field operation state, thereby achieving efficient and accurate determination of the spatial operating trajectory status of agricultural machinery. Attached Figure Description

[0057] 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.

[0058] Figure 1 This is a flowchart illustrating the method for determining the spatial operating trajectory status of agricultural machinery provided by the present invention;

[0059] Figure 2 This is a schematic diagram of the trajectory point detection window provided by the present invention;

[0060] Figure 3 This is a flowchart illustrating the agricultural machinery status determination process provided by the present invention;

[0061] Figure 4 This is a schematic diagram of the structure of the agricultural machinery spatial operation trajectory status determination device provided by the present invention;

[0062] Figure 5 This is a schematic diagram of the physical structure of the electronic device provided by the present invention. Detailed Implementation

[0063] To facilitate a clearer understanding of the various embodiments of the present invention, some relevant background knowledge will be introduced as follows.

[0064] Among related technologies, there are two main methods for determining the spatial operation trajectory status of agricultural machinery using trajectories: the first method is the agricultural machinery spatial operation trajectory analysis method, and the second method is the multi-sensor fusion modeling method.

[0065] (1) For the first method, the spatial trajectory analysis method of agricultural machinery;

[0066] One approach in related technologies is to use only the spatial trajectory data of agricultural machinery to perform density segmentation on GNSS data and design an automatic identification method for typical agricultural machinery operating states. However, this method only determines the field operation state based on the density of GNSS trajectory points. Since the agricultural machinery is stationary, static drift of GNSS will also cause dense points to appear. The same applies to low-speed transportation. The slow speed will also result in a large number of points per unit area, which can easily lead to misjudgment of trajectory points at the edge of the field. Furthermore, the grid size and density threshold used for density segmentation have a significant impact on the results, and their settings need to be controlled by experience and cannot be adaptive.

[0067] Another approach in related technologies involves using the isolation tree (iTree) method to remove outliers from the agricultural machinery's Global Positioning System (GPS) information. Then, based on the samples, frequency-averaged speed and k-means algorithms are used to identify idling and movement states. Finally, proximity and reference point density clustering algorithms are used to analyze the movement state, enabling the identification of transfer and operational conditions during movement. However, this method, when determining the distance threshold (the radius of the spatial point neighborhood (Eps)), is based on the assumption that agricultural machinery moves at lower speeds during agricultural activities such as tilling, harvesting, and sowing. But in actual agricultural machinery operation, low-speed transport on roads and high-speed operation in fields are also common, and the parameter assumptions have certain limitations. Therefore, this method is difficult to adapt to low-speed transport and high-speed operation scenarios.

[0068] (2) For the second method, the multi-sensor fusion modeling method;

[0069] In related technologies, engine control unit (ECU) and GPS data of agricultural machinery under different operating conditions are collected, each type of data is labeled, and a discrimination model is trained using the labeled data. The model is then used to determine the operating condition of the agricultural machinery. This approach does not rely on the GPS density of the agricultural machinery, thus reducing the discrimination error caused by changes in GPS density. However, it requires ECU data assistance. Currently, most existing agricultural machinery still uses Euro II or Euro III engines (there are fewer agricultural machinery equipped with Euro IV engines). There is no standard interface for collecting ECU information, making it difficult to obtain engine ECU information, thus limiting its applicability.

[0070] To overcome the above-mentioned defects, the present invention provides a method, device and electronic device for determining the spatial operating trajectory status of agricultural machinery. By acquiring the operating width of the agricultural machinery and the data of each trajectory point, and determining the number of continuous trajectory line segments within the detection window of each trajectory point, the spatial operating trajectory status of agricultural machinery can be determined efficiently and accurately.

[0071] 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.

[0072] Figure 1 This is a flowchart illustrating the method for determining the spatial operating trajectory status of agricultural machinery provided by the present invention, as shown below. Figure 1As shown, the executing entity of the agricultural machinery spatial trajectory status determination method can be an electronic device, such as a server. The method includes:

[0073] Step 101: For the agricultural machinery operation process, acquire the operating width of the agricultural machinery and the data of each trajectory point. The trajectory point data includes the acquisition time, speed and the planar coordinates of the trajectory point's latitude and longitude projected on the plane coordinate system. The trajectory points are collected by the satellite positioning module on the agricultural machinery, based on a preset acquisition time interval, periodically monitoring the agricultural machinery.

[0074] Specifically, to accurately determine the spatial trajectory of agricultural machinery, during operation, the satellite positioning module on the machinery can periodically monitor it at preset data collection intervals, thereby acquiring trajectory point data. This data can include the collection time, speed, trajectory point latitude and longitude, and the planar coordinates of the trajectory point's latitude and longitude projected onto a plane coordinate system. Simultaneously, the operating width of the agricultural machinery can also be obtained during operation.

[0075] Step 102: For each trajectory point, based on the working width, the planar coordinates of the target trajectory point, and the planar coordinates of the next trajectory point, determine the detection window of the target trajectory point. The detection window is square in shape, the center of the detection window is determined based on the planar coordinates of the target trajectory point, and the direction of the detection window is from the target trajectory point to the next trajectory point. The size of the detection window can cover at least 4 working widths. The target trajectory point is any one of multiple trajectory points. The acquisition time of the next trajectory point is after the acquisition time of the target trajectory point, and the acquisition time of the next trajectory point differs from the acquisition time of the target trajectory point by a preset acquisition time interval.

[0076] Specifically, it can be understood that when agricultural machinery is transported on the road, a single-row trip to the field results in one track, and a double-row trip back and forth results in two tracks. In this case, the continuous track lines of the agricultural machinery are one or two. When agricultural machinery is operating in the field, it moves back and forth repeatedly, resulting in three or more continuous track lines. It is evident that the number of continuous track lines of agricultural machinery during transport is always less than the number during field operation.

[0077] Based on this, a detection window of appropriate size can be designed to ensure that the size of the detection window can cover at least 4 working widths. Since the center of the detection window is determined based on the planar coordinates of the target trajectory point, and the direction of the detection window is from the target trajectory point to the next trajectory point, the window range can cover at least 2 additional working widths on either side of the target line segment (the line segment determined based on the planar coordinates of the target trajectory point and the planar coordinates of the next trajectory point). That is, on either side of the target line segment, at least 3 continuous trajectory segments can be covered (including the continuous trajectory segment where the target line segment is located and the 2 continuous trajectory segments that can be covered by 2 working widths).

[0078] Step 103: For each trajectory point detection window, analyze the trajectory points within the detection window of the target trajectory point to determine the set of trajectory points corresponding to the target trajectory point.

[0079] Specifically, after determining the detection window for each trajectory point, the trajectory points within the detection window of the target trajectory point can be analyzed based on the planar coordinates of each trajectory point. These trajectory points can be grouped into a set, which can then serve as the set of trajectory points corresponding to the target trajectory point, where the target trajectory point is any one of multiple trajectory points. After performing the above analysis on the detection window of each trajectory point, the set of trajectory points corresponding to each trajectory point can be determined.

[0080] Step 104: For each trajectory point set corresponding to a trajectory point, based on the preset acquisition time interval and the acquisition time of each trajectory point in the trajectory point set corresponding to the target trajectory point, determine the number of continuous trajectory segments within the detection window of the target trajectory point.

[0081] After determining the set of trajectory points corresponding to each trajectory point, the number of continuous trajectory segments within the detection window of the target trajectory point can be analyzed based on the preset acquisition time interval and the acquisition time of each trajectory point in the target trajectory point's set. The target trajectory point can be any one of multiple trajectory points. After performing the above analysis on the set of trajectory points corresponding to each trajectory point, the number of continuous trajectory segments within the detection window of each trajectory point can be determined.

[0082] Step 105: Based on the speed of each trajectory point and the number of continuous trajectory segments within the detection window of each trajectory point, determine the agricultural machinery status corresponding to each trajectory point. The agricultural machinery status is either a stopped state, a transfer state, or a field operation state.

[0083] Specifically, by acquiring the operating width of the agricultural machinery and data of each trajectory point, and determining the number of continuous trajectory segments within the detection window of each trajectory point, the state of the agricultural machinery corresponding to the trajectory point can be determined as either a stationary or non-stationary state based on the speed of the trajectory point. Furthermore, when the agricultural machinery is in a non-stationary state, the relationship between the number of continuous trajectory segments within the detection window and the number 3 can be analyzed. When the agricultural machinery is transporting goods on the road (one line for a single route to the field, two lines for a double route back), the number of continuous trajectory segments within the detection window is less than 3. When the agricultural machinery is operating in the field (generally repetitive back-and-forth movement), the number of continuous trajectory segments within the detection window is greater than or equal to 3. Therefore, by analyzing the relationship between the number of continuous trajectory segments and the number 3, it is possible to determine whether the agricultural machinery corresponding to the trajectory point is in a transport or field operation state.

[0084] Understandably, related technologies generally assume that trajectory points are denser in the field and sparser on the road, and determine the operational status based on the density of trajectory points. However, when agricultural machinery is stationary, GNSS static drift can also show dense points; the same applies to low-speed transport, where the slow speed results in a higher number of points per unit area, leading to misjudgments. This application considers not only the density of trajectory points (represented by window size) but also the number of continuous trajectory segments. Thus, in the case of GNSS static drift, as long as the trajectory points are continuous, it is considered a single continuous trajectory segment; similarly, in the case of low-speed transport, continuous trajectory points are considered a single continuous trajectory segment. Therefore, by establishing a sliding window based on the direction of travel and detecting the density of trajectory points and the number of continuous trajectory segments through the window, the influence of GNSS static drift and low-speed transport can be eliminated, enabling the determination of the spatial operational trajectory status of agricultural machinery and providing technical support for the assessment of agricultural machinery operation quantity.

[0085] Therefore, by establishing a moving detection window along the direction of travel, the set of trajectory points in the detection window can be dynamically acquired, providing a data foundation for monitoring the number of work lines. Then, based on the data sampling interval, continuous trajectory points can be segmented to establish a set of continuous trajectory lines in the detection window, obtaining the number of work lines within the detection window. Furthermore, stopping trajectory points can be obtained through speed determination. The number of work lines within the detection window can be used to further distinguish between road transport trajectory points and field work trajectory points. Thus, relying solely on spatial trajectory information, the spatial operation trajectory status of agricultural machinery can be efficiently and accurately determined.

[0086] Optionally, according to the method for determining the spatial operating trajectory state of agricultural machinery provided by the present invention, determining the detection window of the target trajectory point based on the working width, the planar coordinates of the target trajectory point, and the planar coordinates of the next trajectory point includes:

[0087] Based on the planar coordinates of the target trajectory point and the planar coordinates of the next trajectory point, a window direction is determined. The window direction is used to characterize the angle between the target line and the x-axis in the planar coordinate system. The target line is determined based on the planar coordinates of the target trajectory point and the planar coordinates of the next trajectory point.

[0088] The window size is determined based on the working swath width and the positioning accuracy of the satellite positioning module;

[0089] Based on the window orientation, the window size, and the planar coordinates of the target trajectory point, determine the planar coordinates corresponding to the four window corner points respectively;

[0090] The detection window for the target trajectory point is determined based on the planar coordinates corresponding to the four window corner points.

[0091] It is understandable that by determining the window orientation and window size, four window corner points can be determined. Then, based on the planar coordinates corresponding to the four window corner points, the detection window of the trajectory point can be efficiently determined. Then, based on the detection window of the trajectory point, the trajectory point within the window can be determined and the continuous trajectory line segment within the window can be determined. Finally, based on the speed of the trajectory point and the number of continuous trajectory line segments within the detection window of the trajectory point, the spatial operation trajectory status of the agricultural machinery can be accurately determined.

[0092] Optionally, according to the method for determining the spatial operating trajectory state of agricultural machinery provided by the present invention, determining the window direction based on the planar coordinates of the target trajectory point and the planar coordinates of the next trajectory point includes:

[0093] The window orientation is determined using the following formula;

[0094]

[0095] Where θ represents the angle between the target line and the x-axis in the planar coordinate system, p i .x represents the x-coordinate of the target trajectory point on the x-axis in the plane coordinate system, p i .y represents the coordinates of the target trajectory point on the y-axis in the plane coordinate system, p i+1 .x represents the x-coordinate of the next trajectory point on the x-axis in the plane coordinate system, p i+1 .y represents the coordinates of the next trajectory point on the y-axis in the plane coordinate system.

[0096] It is understandable that for any two temporally adjacent trajectory points p i and p i+1 Using the above formula for calculating the window direction, based on the trajectory point p iThe coordinates on the x-axis and the coordinates on the y-axis, and p i+1 The coordinates on the x-axis and y-axis can efficiently determine the window orientation.

[0097] Optionally, according to the method for determining the spatial operating trajectory status of agricultural machinery provided by the present invention, determining the window size based on the operating width and the positioning accuracy of the satellite positioning module includes:

[0098] The window size is determined using the following formula;

[0099] w = 2 × (2 + E) × J;

[0100] Where w represents the window width, E represents the positioning accuracy of the satellite positioning module, and J represents the operating swath width.

[0101] It is understandable that by using the above window size calculation formula, the positioning accuracy of the satellite positioning module can be taken into account when determining the window size, so as to ensure that the detection window can include three or more continuous trajectory segments in the window during field operations, thereby eliminating the influence of positioning accuracy on the judgment result and ensuring the accuracy of the judgment result.

[0102] Optionally, according to the method for determining the spatial operating trajectory state of agricultural machinery provided by the present invention, the four window corner points include a first window corner point, a second window corner point, a third window corner point, and a fourth window corner point. The step of determining the planar coordinates corresponding to the four window corner points based on the window direction, the window size, and the planar coordinates of the target trajectory point includes:

[0103] The planar coordinates of the first window corner point are determined using the following formula for calculating the coordinates of the first window corner point.

[0104]

[0105] The planar coordinates of the corner points of the second window are determined using the following formula for calculating the corner point coordinates of the second window.

[0106]

[0107] The planar coordinates of the corner point of the third window are determined using the following formula for calculating the corner point coordinates of the third window.

[0108]

[0109] The planar coordinates of the fourth window corner point are determined using the following formula for calculating the coordinates of the fourth window corner point.

[0110]

[0111] Where A(x,y) represents the planar coordinates of the first window corner, B(x,y) represents the planar coordinates of the second window corner, C(x,y) represents the planar coordinates of the third window corner, D(x,y) represents the planar coordinates of the fourth window corner, θ represents the angle between the target line and the x-axis in the planar coordinate system, w represents the window width, and p i .x represents the x-coordinate of the target trajectory point on the x-axis in the plane coordinate system, p i .y represents the coordinates of the target trajectory point on the y-axis in the plane coordinate system.

[0112] Specifically, Figure 2 This is a schematic diagram of the trajectory point detection window provided by the present invention, as shown below. Figure 2 As shown, by using the above formula for calculating the corner coordinates of the window, the corner points A(x,y), B(x,y), C(x,y), and D(x,y) of the first window can be accurately determined. Then, based on the planar coordinates corresponding to the four window corner points, the detection window of the trajectory point can be accurately determined in the planar coordinate system.

[0113] Optionally, according to the method for determining the spatial operating trajectory state of agricultural machinery provided by the present invention, analyzing the trajectory points within the detection window of the target trajectory point and determining the set of trajectory points corresponding to the target trajectory point includes:

[0114] The trajectory points in dataset P are filtered using the following first trajectory point filtering formula to determine dataset Q;

[0115] Q = {P|P(X)} min ≤x≤X max &&Y min ≤y≤Y max )};

[0116] The trajectory points in dataset Q are filtered using the following second trajectory point filtering formula to determine the set of trajectory points corresponding to the target trajectory point;

[0117]

[0118] Where P represents the dataset consisting of all trajectory points, x and y represent the coordinates of any trajectory point in dataset P on the x-axis and y-axis, respectively, and X... min This represents the minimum x-axis coordinate of each of the four corner points of the detection window. max This represents the maximum x-axis coordinate of each of the four corner points of the detection window, and the maximum y-axis coordinate of each corner point. min This represents the minimum y-axis coordinate of each of the four corner points of the detection window. maxThis represents the maximum value of the y-axis coordinates corresponding to the four corner points of the detection window, and && represents the logical AND operator;

[0119] If H is true, it means that point G is inside the detection window; otherwise, point G is outside the detection window.

[0120] Points A, B, C, and D represent the four corner points of the detection window, and point G is any trajectory point in the dataset Q.

[0121] Understandably, the first trajectory point filtering formula can be used to filter the dataset P consisting of all trajectory points and determine the dataset Q. Then, the second trajectory point filtering formula can be used to filter the dataset Q. After these two rounds of trajectory point filtering, the set of trajectory points corresponding to any given trajectory point can be accurately determined. This represents the vector pointing from point A to point B. This represents the vector pointing from point A to point G, and so on, other vectors can be determined (e.g., and The technical meaning of ).

[0122] Optionally, according to the method for determining the spatial operating trajectory state of agricultural machinery provided by the present invention, the step of determining the number of continuous trajectory segments within the detection window of the target trajectory point based on a preset acquisition time interval and the acquisition time of each trajectory point in the trajectory point set corresponding to the target trajectory point includes:

[0123] The following formula for judging continuous trajectory points is used to divide each trajectory point in the trajectory point set into line segments to determine the number of continuous trajectory line segments within the detection window of the target trajectory point.

[0124] F′=p i ′ +1 .tp i ′.t;

[0125] Among them, p is sorted by collection time. i ′ and p i ′ +1 Let p be any two adjacent points in the set of trajectory points. i ′ +1 Acquisition time p i ′ +1 .t is in p i The acquisition time p' i After '.t; if F'=F, then it means p i ′ and p i ′ +1 For continuous trajectory points, p i ′ and p i ′ +1 If they belong to the same continuous trajectory segment, otherwise pi ′ and p i ′ +1 For points on discontinuous trajectories, p i ′ and p i ′ +1 These belong to different continuous trajectory segments, and F represents the preset acquisition time interval.

[0126] It is understandable that the above formula for judging continuous trajectory points can be used to determine the two adjacent points p. i ′ and p i ′ +1 Whether a point belongs to the same continuous trajectory segment or to different continuous trajectory segments is determined by sorting the data according to the acquisition time and performing the above judgment on each pair of adjacent points. This can accurately determine the number of continuous trajectory segments within the detection window of any trajectory point.

[0127] Optionally, according to the method for determining the spatial operating trajectory status of agricultural machinery provided by the present invention, the step of determining the agricultural machinery status corresponding to each trajectory point based on the speed of each trajectory point and the number of continuous trajectory segments within the detection window of each trajectory point includes:

[0128] If the speed of the trajectory point is 0, then the agricultural machinery corresponding to the trajectory point is determined to be in a stopped state.

[0129] Alternatively, if the velocity of the trajectory point is greater than 0 and the number of continuous trajectory segments within the detection window of the trajectory point is less than 3, then the agricultural machinery status corresponding to the trajectory point is determined to be the transfer status.

[0130] Alternatively, if the velocity of the trajectory point is greater than 0 and the number of continuous trajectory segments within the detection window of the trajectory point is greater than or equal to 3, then the agricultural machinery state corresponding to the trajectory point is determined to be the field operation state.

[0131] Specifically, Figure 3 This is a flowchart illustrating the agricultural machinery status determination process provided by the present invention, as shown below. Figure 3 As shown, the process for determining the status of agricultural machinery includes steps 301 to 305.

[0132] Step 301: Obtain the velocity of each trajectory point and the number of continuous trajectory segments within the detection window of each trajectory point.

[0133] Step 302: Based on the order of data collection time, determine a trajectory point of the agricultural machinery whose status needs to be determined as the target trajectory point.

[0134] Step 303: Determine if the speed of the target trajectory point is 0. If it is, determine that the agricultural machinery corresponding to the target trajectory point is in a stopped state and proceed to step 305. Otherwise, proceed to step 304.

[0135] Step 304: Determine whether the number of continuous trajectory segments in the detection window of the target trajectory point is less than 3. If so, determine that the agricultural machinery status corresponding to the trajectory point is the transfer status and execute step 305. Otherwise, determine that the agricultural machinery status corresponding to the trajectory point is the field operation status and execute step 305.

[0136] Step 305: Determine if there are still trajectory points whose agricultural machinery status needs to be determined. If yes, proceed to step 302; otherwise, end the process.

[0137] Understandably, when the agricultural machinery corresponding to a trajectory point is in a non-stop state, the relationship between the number of continuous trajectory segments and 3 can be analyzed based on the number of continuous trajectory segments within the detection window of the trajectory point. When the agricultural machinery is transporting goods on the road (one line for going to the field and two lines for returning), the number of continuous trajectory segments in the detection window is less than 3. When the agricultural machinery is working in the field (generally repetitive back-and-forth movement), the number of continuous trajectory segments in the detection window is greater than or equal to 3. Therefore, by analyzing the relationship between the number of continuous trajectory segments and 3, it is possible to determine whether the agricultural machinery corresponding to the trajectory point is in a transport state or a field operation state, achieving efficient and accurate determination of the spatial operation trajectory state of the agricultural machinery.

[0138] Optionally, in order to efficiently and accurately determine the spatial operating trajectory status of agricultural machinery, the present invention provides a method for determining the spatial operating trajectory status of agricultural machinery, the method comprising: (1) collecting agricultural machinery operation information; (2) data acquisition and preprocessing; and (3) determining the status of agricultural machinery.

[0139] (1) Agricultural machinery operation information collection;

[0140] A data acquisition terminal can be installed on the tractor. The data acquisition time interval of the terminal is F, the positioning accuracy of the GNSS module is E meters, and the swath width of the agricultural machinery for this operation is J. The terminal collects GNSS data (including at least GNSS time, latitude and longitude, heading angle, and speed) while the agricultural machinery is moving. The acquisition terminal then wirelessly transmits the collected GNSS data and the swath width to the data server.

[0141] (2) Data acquisition and preprocessing, including: (b1) acquisition of agricultural machinery operation data; (b2) data projection; (b3) establishment of detection window; (b4) extraction of trajectory points within the detection window; (b5) calculation of the number of continuous trajectory lines within the detection window.

[0142] (b1) Acquisition of agricultural machinery operation data;

[0143] Retrieve a set P of agricultural machinery operation data records from the data server and sort them according to GNSS time:

[0144] P = {p1, p2, p3, ..., p}i , ...};

[0145] Among them, P i This is the data for the i-th record point;

[0146] P i ={t, lon, lat, c, v};

[0147] P i It should contain at least the following data:

[0148] t is GNSS time, lon is longitude, lat is latitude, c is direction angle, and v is the speed of the agricultural machinery.

[0149] (b2) Data projection;

[0150] To perform planar computations, p in dataset P i The latitude and longitude data are projected and transformed, and the data is unified in a plane coordinate system to obtain p. i Planar coordinates.

[0151] p i ={t,lon,lat,c,v,x,y};

[0152] Where x is the x-coordinate of the plane coordinate system and y is the x-coordinate of the plane coordinate system.

[0153] (b3) Establishment of the detection window;

[0154] Track points for road transport typically appear as 1-2 trajectory lines, while track points for field operations typically appear as 3 or more trajectory lines. Therefore, by establishing a detection window and sequentially moving the point density and number of trajectory lines within the monitoring window, road points can be extracted, and for each trajectory point p in set P... i , with p i Centered on the direction, create a square window with side length w.

[0155] For trajectory points p in set P i Get the next point p in the time sequence i+1 The window direction is along line p i p i+1 The direction is the line p. i p i+1 The angle between the direction and the x-axis of the plane is:

[0156]

[0157] To make the window range online p i p i+1 Each side can include at least two additional working widths of distance, thus adding line p i pi+1 This can contain 3 work lines, where the window width can be represented as follows:

[0158] w = 2 × (2 + E) × J;

[0159] Where E represents GNSS positioning accuracy in meters; and J represents the working width in meters.

[0160] Furthermore, according to p i With p i+1 Positional relationship, with p i Establish a rectangular coordinate system with the origin at the x and y directions, as follows: Figure 2 As shown.

[0161] like Figure 2 As shown, the four corner points ABCD of the detection window can be calculated based on their positional relationships, and the calculation formula is as follows:

[0162]

[0163]

[0164]

[0165]

[0166] Where A(x,y) represents the planar coordinates of the first window corner, B(x,y) represents the planar coordinates of the second window corner, C(x,y) represents the planar coordinates of the third window corner, D(x,y) represents the planar coordinates of the fourth window corner, θ represents the angle between the target line and the x-axis in the planar coordinate system, w represents the window width, and p i .x represents the x-coordinate of the target trajectory point on the x-axis in the plane coordinate system, p i .y represents the coordinates of the target trajectory point on the y-axis in the plane coordinate system.

[0167] (b4) Extraction of trajectory points within the detection window;

[0168] Calculate the maximum coordinate value (X) of the four points A, B, C, and D in the detection window. max Y max ) and minimum value (X) min Y min ).

[0169] For dataset P, filter out points other than the maximum and minimum coordinate values, as these points cannot be within the detection window, to obtain dataset Q.

[0170] Q = {P|P(X)} min ≤x≤X max &&Y min ≤y≤Ymax )}.

[0171] At this point, the points contained in Q may be inside or outside the detection window. Further, using the cross product, we iterate through the points G in Q and calculate the vector. and Calculate the cross product:

[0172]

[0173] If H is true, then point G is inside the detection window; otherwise, point G is outside the detection window.

[0174] Iterate through the points in Q to obtain all points within the detection window, forming a set R:

[0175] R = {P|P(p∈ABCD)}.

[0176] (b5) Calculation of the number of continuous trajectory lines within the detection window;

[0177] For the trajectory points in set R, sorted by time, and for any two adjacent points, calculate the time interval F′ between them, as shown in the following formula:

[0178] F′=p i ′ +1 .tp i ′.t;

[0179] If F = F′, then p i p i+1 Points in R are considered continuous trajectory points; otherwise, they are considered discontinuous trajectory points. Traverse and segment the trajectory points in R, where any two adjacent points in each trajectory segment are continuous trajectory points, resulting in a set L of continuous trajectory lines.

[0180] L = {l1, l2, l3, ..., l i , ...};

[0181] The number of line segments in set L is L. count .

[0182] (3) Agricultural machinery status assessment;

[0183] For set P, divide it using velocity v. If v equals 0, it is a resting trajectory point, forming set S; if v is greater than zero, it is a transfer trajectory point or a field operation trajectory point, forming set M, where S = {P|P(v = 0)}, M = {P|P(v > 0)}.

[0184] Iterate through set M, for each point m iThe system acquires a detection window and extracts the trajectory points within it, as well as calculates the number of trajectory lines within the window. If the number of trajectory lines within the detection window is greater than 3, the point is considered a field operation trajectory point; otherwise, it is considered a transport trajectory point. All transport trajectory points form a set T, and all field operation trajectory points form a set W.

[0185] T = {M|M(Lcount < 3)};

[0186] W = {M|M(Lcount≥3)};

[0187] At this point, the spatial operation trajectory of agricultural machinery has been divided into three sets: S set represents resting trajectory points, T set represents transfer trajectory points, and W set represents field operation trajectory points.

[0188] The following describes the agricultural machinery space operation trajectory status determination device provided by the present invention. The agricultural machinery space operation trajectory status determination device described below and the agricultural machinery space operation trajectory status determination method described above can be referred to in correspondence.

[0189] Figure 4 This is a schematic diagram of the structure of the agricultural machinery spatial operation trajectory status determination device provided by the present invention, as shown below. Figure 4 As shown, the device includes: a trajectory monitoring module 401, a detection window determination module 402, a trajectory point set determination module 403, a continuous trajectory segment determination module 404, and a trajectory point status determination module 405. Wherein:

[0190] The trajectory monitoring module 401 is used to acquire the working width and trajectory point data of the agricultural machinery during the operation process. The trajectory point data includes the acquisition time, speed and the planar coordinates of the trajectory point's latitude and longitude projected on the plane coordinate system. The trajectory points are collected by the satellite positioning module on the agricultural machinery, based on a preset acquisition time interval, by periodically monitoring the agricultural machinery.

[0191] The detection window determination module 402 is used to determine the detection window of the target trajectory point for each trajectory point based on the working width, the planar coordinates of the target trajectory point, and the planar coordinates of the next trajectory point. The detection window is square in shape, the center of the detection window is determined based on the planar coordinates of the target trajectory point, and the direction of the detection window is from the target trajectory point to the next trajectory point. The size of the detection window can cover at least 4 working widths. The target trajectory point is any one of multiple trajectory points. The acquisition time of the next trajectory point is after the acquisition time of the target trajectory point, and the acquisition time of the next trajectory point differs from the acquisition time of the target trajectory point by a preset acquisition time interval.

[0192] The trajectory point set determination module 403 is used to analyze the trajectory points within the detection window of the target trajectory point for each trajectory point detection window, and determine the trajectory point set corresponding to the target trajectory point.

[0193] The continuous trajectory segment determination module 404 is used to determine the number of continuous trajectory segments in the detection window of the target trajectory point based on the preset acquisition time interval and the acquisition time of each trajectory point in the trajectory point set corresponding to each trajectory point.

[0194] The trajectory point status determination module 405 is used to determine the agricultural machinery status corresponding to each trajectory point based on the speed of each trajectory point and the number of continuous trajectory line segments within the detection window of each trajectory point. The agricultural machinery status is either a stopped state, a transfer state, or a field operation state.

[0195] Figure 5 This is a schematic diagram of the physical structure of the electronic device provided by the present invention, such as... Figure 5 As shown, the electronic device may include: a processor 510, a communication interface 520, a memory 530, and a communication bus 540, wherein the processor 510, the communication interface 520, and the memory 530 communicate with each other through the communication bus 540. The processor 510 can call logical instructions in the memory 530 to execute a method for determining the spatial trajectory state of agricultural machinery, which includes:

[0196] For agricultural machinery operation, the working width and trajectory point data of the agricultural machinery are acquired. The trajectory point data includes the acquisition time, speed and the plane coordinates of the trajectory point's latitude and longitude projected on the plane coordinate system. The trajectory points are collected by the satellite positioning module on the agricultural machinery, based on a preset acquisition time interval, by periodically monitoring the agricultural machinery.

[0197] For each trajectory point, a detection window for the target trajectory point is determined based on the working width, the planar coordinates of the target trajectory point, and the planar coordinates of the next trajectory point. The detection window is square in shape, and its center is determined based on the planar coordinates of the target trajectory point. The direction of the detection window is from the target trajectory point to the next trajectory point. The size of the detection window can cover at least four working widths. The target trajectory point is any one of multiple trajectory points. The acquisition time of the next trajectory point is after the acquisition time of the target trajectory point, and the acquisition time of the next trajectory point differs from the acquisition time of the target trajectory point by a preset acquisition time interval.

[0198] For each trajectory point's detection window, analyze the trajectory points within the target trajectory point's detection window to determine the set of trajectory points corresponding to the target trajectory point.

[0199] For each trajectory point set corresponding to a trajectory point, the number of continuous trajectory segments within the detection window of the target trajectory point is determined based on the preset acquisition time interval and the acquisition time of each trajectory point in the trajectory point set corresponding to the target trajectory point.

[0200] Based on the speed of each trajectory point and the number of continuous trajectory segments within the detection window of each trajectory point, the agricultural machinery status corresponding to each trajectory point is determined, which is either a stopped state, a transfer state, or a field operation state.

[0201] Furthermore, the logical instructions in the aforementioned memory 530 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.

[0202] In another aspect, 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 agricultural machinery spatial trajectory state determination method provided by the above methods, the method comprising:

[0203] For agricultural machinery operation, the working width and trajectory point data of the agricultural machinery are acquired. The trajectory point data includes the acquisition time, speed and the plane coordinates of the trajectory point's latitude and longitude projected on the plane coordinate system. The trajectory points are collected by the satellite positioning module on the agricultural machinery, based on a preset acquisition time interval, by periodically monitoring the agricultural machinery.

[0204] For each trajectory point, a detection window for the target trajectory point is determined based on the working width, the planar coordinates of the target trajectory point, and the planar coordinates of the next trajectory point. The detection window is square in shape, and its center is determined based on the planar coordinates of the target trajectory point. The direction of the detection window is from the target trajectory point to the next trajectory point. The size of the detection window can cover at least four working widths. The target trajectory point is any one of multiple trajectory points. The acquisition time of the next trajectory point is after the acquisition time of the target trajectory point, and the acquisition time of the next trajectory point differs from the acquisition time of the target trajectory point by a preset acquisition time interval.

[0205] For each trajectory point's detection window, analyze the trajectory points within the target trajectory point's detection window to determine the set of trajectory points corresponding to the target trajectory point.

[0206] For each trajectory point set corresponding to a trajectory point, the number of continuous trajectory segments within the detection window of the target trajectory point is determined based on the preset acquisition time interval and the acquisition time of each trajectory point in the trajectory point set corresponding to the target trajectory point.

[0207] Based on the speed of each trajectory point and the number of continuous trajectory segments within the detection window of each trajectory point, the agricultural machinery status corresponding to each trajectory point is determined, which is either a stopped state, a transfer state, or a field operation state.

[0208] 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.

[0209] 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.

[0210] 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 determining the spatial trajectory status of agricultural machinery, characterized in that, include: For agricultural machinery operation, the working width and trajectory point data of the agricultural machinery are acquired. The trajectory point data includes the acquisition time, speed and the plane coordinates of the trajectory point's latitude and longitude projected on the plane coordinate system. The trajectory points are collected by the satellite positioning module on the agricultural machinery, based on a preset acquisition time interval, by periodically monitoring the agricultural machinery. For each trajectory point, a detection window for the target trajectory point is determined based on the working width, the planar coordinates of the target trajectory point, and the planar coordinates of the next trajectory point. The detection window is square in shape, and its center is determined based on the planar coordinates of the target trajectory point. The direction of the detection window is from the target trajectory point to the next trajectory point. The size of the detection window can cover at least four working widths. The target trajectory point is any one of multiple trajectory points. The acquisition time of the next trajectory point is after the acquisition time of the target trajectory point, and the acquisition time of the next trajectory point differs from the acquisition time of the target trajectory point by a preset acquisition time interval. For each trajectory point's detection window, analyze the trajectory points within the target trajectory point's detection window to determine the set of trajectory points corresponding to the target trajectory point. For each trajectory point set corresponding to a trajectory point, the number of continuous trajectory segments within the detection window of the target trajectory point is determined based on the preset acquisition time interval and the acquisition time of each trajectory point in the trajectory point set corresponding to the target trajectory point. Based on the speed of each trajectory point and the number of continuous trajectory segments within the detection window of each trajectory point, the agricultural machinery status corresponding to each trajectory point is determined, which is either a stopped state, a transfer state, or a field operation state.

2. The method for determining the spatial operating trajectory state of agricultural machinery according to claim 1, characterized in that, The determination of the detection window for the target trajectory point based on the working width, the planar coordinates of the target trajectory point, and the planar coordinates of the next trajectory point includes: Based on the planar coordinates of the target trajectory point and the planar coordinates of the next trajectory point, a window direction is determined. The window direction is used to characterize the angle between the target line and the x-axis in the planar coordinate system. The target line is determined based on the planar coordinates of the target trajectory point and the planar coordinates of the next trajectory point. The window size is determined based on the working swath width and the positioning accuracy of the satellite positioning module; Based on the window orientation, the window size, and the planar coordinates of the target trajectory point, determine the planar coordinates corresponding to the four window corner points respectively; The detection window for the target trajectory point is determined based on the planar coordinates corresponding to the four window corner points.

3. The method for determining the spatial operating trajectory state of agricultural machinery according to claim 2, characterized in that, Determining the window direction based on the planar coordinates of the target trajectory point and the planar coordinates of the next trajectory point includes: The window orientation is determined using the following formula; Where θ represents the angle between the target line and the x-axis in the planar coordinate system, p i .x represents the x-coordinate of the target trajectory point on the x-axis in the plane coordinate system, p i .y represents the coordinates of the target trajectory point on the y-axis in the plane coordinate system, p i+1 .x represents the x-coordinate of the next trajectory point on the x-axis in the plane coordinate system, p i+1 .y represents the coordinates of the next trajectory point on the y-axis in the plane coordinate system.

4. The method for determining the spatial operating trajectory status of agricultural machinery according to claim 2, characterized in that, Determining the window size based on the working swath width and the positioning accuracy of the satellite positioning module includes: The window size is determined using the following formula; w = 2 × (2 + E) × J; Where w represents the window width, E represents the positioning accuracy of the satellite positioning module, and J represents the operating swath width.

5. The method for determining the spatial operating trajectory state of agricultural machinery according to claim 2, characterized in that, The four window corner points include a first window corner point, a second window corner point, a third window corner point, and a fourth window corner point. Determining the planar coordinates corresponding to each of the four window corner points based on the window orientation, the window size, and the planar coordinates of the target trajectory point includes: The planar coordinates of the first window corner point are determined using the following formula for calculating the coordinates of the first window corner point. The planar coordinates of the corner points of the second window are determined using the following formula for calculating the corner point coordinates of the second window. The planar coordinates of the corner point of the third window are determined using the following formula for calculating the corner point coordinates of the third window. The planar coordinates of the fourth window corner point are determined using the following formula for calculating the coordinates of the fourth window corner point. Where A(x,y) represents the planar coordinates of the first window corner, B(x,y) represents the planar coordinates of the second window corner, C(x,y) represents the planar coordinates of the third window corner, D(x,y) represents the planar coordinates of the fourth window corner, θ represents the angle between the target line and the x-axis in the planar coordinate system, w represents the window width, and p i .x represents the x-coordinate of the target trajectory point on the x-axis in the plane coordinate system, p i .y represents the coordinates of the target trajectory point on the y-axis in the plane coordinate system.

6. The method for determining the spatial operating trajectory state of agricultural machinery according to claim 1, characterized in that, Analyze the trajectory points within the detection window of the target trajectory point to determine the set of trajectory points corresponding to the target trajectory point, including: The trajectory points in dataset P are filtered using the following first trajectory point filtering formula to determine dataset Q; Q={P|P(X min ≤x≤X max &&Y min ≤y≤Y max )}; The trajectory points in dataset Q are filtered using the following second trajectory point filtering formula to determine the set of trajectory points corresponding to the target trajectory point; Where P represents the dataset consisting of all trajectory points, x and y represent the coordinates of any trajectory point in dataset P on the x-axis and y-axis, respectively, and X... min This represents the minimum x-axis coordinate of each of the four corner points of the detection window. max This represents the maximum x-axis coordinate of each of the four corner points of the detection window, and the maximum y-axis coordinate of each corner point. min This represents the minimum y-axis coordinate of each of the four corner points of the detection window. max This represents the maximum value of the y-axis coordinates corresponding to the four corner points of the detection window, and && represents the logical AND operator; If H is true, it means that point G is inside the detection window; otherwise, point G is outside the detection window. Points A, B, C, and D represent the four corner points of the detection window, and point G is any trajectory point in the dataset Q.

7. The method for determining the spatial operating trajectory state of agricultural machinery according to claim 1, characterized in that, The determination of the number of continuous trajectory segments within the detection window of the target trajectory point, based on a preset acquisition time interval and the acquisition time of each trajectory point in the trajectory point set corresponding to the target trajectory point, includes: The following formula for judging continuous trajectory points is used to divide each trajectory point in the trajectory point set into line segments to determine the number of continuous trajectory line segments within the detection window of the target trajectory point. F ′ =p i ′ +1 .t-p i ′ .t; Among them, p is sorted by collection time. i ′ and p i ′ +1 Let p be any two adjacent points in the set of trajectory points. i ′ +1 Acquisition time p i ′ +1 .t is in p i ′ Acquisition time p i ′ After .t; if F ′ =F means p i ′ and p i ′ +1 For continuous trajectory points, p i ′ and p i ′ +1 If they belong to the same continuous trajectory segment, otherwise p i ′ and p i ′ +1 For points on discontinuous trajectories, p i ′ and p i ′ +1 These belong to different continuous trajectory segments, and F represents the preset acquisition time interval.

8. The method for determining the spatial operating trajectory state of agricultural machinery according to claim 1, characterized in that, The determination of the agricultural machinery status corresponding to each trajectory point based on the speed of each trajectory point and the number of continuous trajectory segments within the detection window of each trajectory point includes: If the speed of the trajectory point is 0, then the agricultural machinery corresponding to the trajectory point is determined to be in a stopped state. Alternatively, if the velocity of the trajectory point is greater than 0 and the number of continuous trajectory segments within the detection window of the trajectory point is less than 3, then the agricultural machinery status corresponding to the trajectory point is determined to be the transfer status. Alternatively, if the velocity of the trajectory point is greater than 0 and the number of continuous trajectory segments within the detection window of the trajectory point is greater than or equal to 3, then the agricultural machinery state corresponding to the trajectory point is determined to be the field operation state.

9. A device for determining the spatial operating trajectory status of agricultural machinery, characterized in that, include: The trajectory monitoring module is used to acquire the working width and trajectory point data of agricultural machinery during the operation process. The trajectory point data includes the acquisition time, speed, and the planar coordinates of the trajectory point's latitude and longitude projected on the plane coordinate system. The trajectory points are collected by the satellite positioning module on the agricultural machinery, based on a preset acquisition time interval, by periodically monitoring the agricultural machinery. The detection window determination module is used to determine the detection window of the target trajectory point for each trajectory point based on the working width, the planar coordinates of the target trajectory point, and the planar coordinates of the next trajectory point. The detection window is square in shape, the center of the detection window is determined based on the planar coordinates of the target trajectory point, and the direction of the detection window is from the target trajectory point to the next trajectory point. The size of the detection window can cover at least 4 working widths. The target trajectory point is any one of multiple trajectory points. The acquisition time of the next trajectory point is after the acquisition time of the target trajectory point, and the acquisition time of the next trajectory point differs from the acquisition time of the target trajectory point by a preset acquisition time interval. The trajectory point set determination module is used to analyze the trajectory points within the detection window of the target trajectory point for each trajectory point detection window, and determine the trajectory point set corresponding to the target trajectory point. The continuous trajectory segment determination module is used to determine the number of continuous trajectory segments within the detection window of the target trajectory point based on the preset acquisition time interval and the acquisition time of each trajectory point in the trajectory point set corresponding to each trajectory point. The trajectory point status determination module is used to determine the agricultural machinery status corresponding to each trajectory point based on the speed of each trajectory point and the number of continuous trajectory line segments within the detection window of each trajectory point. The agricultural machinery status is either a stopped state, a transfer state, or a field operation state.

10. 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 agricultural machinery spatial operation trajectory status determination method as described in any one of claims 1 to 8.

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