Agricultural machinery monitoring method, device, electronic device and storage medium

Abstract

The present invention provides an agricultural machinery monitoring method, device, electronic device and storage medium, and relates to the technical field of agricultural monitoring. The method comprises: obtaining a track viewing instruction, determining the starting time of track display and the target agricultural machinery whose track is to be displayed based on the track viewing instruction; starting from the starting time, displaying the track of the target agricultural machinery and the working status of the target agricultural machinery in sequence based on the agricultural machinery data of the target agricultural machinery in chronological order; wherein the agricultural machinery data comprises the position information of the target agricultural machinery at at least one time, and the working status information of the target agricultural machinery at at least one time, and the agricultural machinery data is used to render the track of the target agricultural machinery. The present invention can improve the monitoring accuracy of the working conditions of agricultural machinery.

Description

Technical Field

[0001] The present invention relates to the field of agricultural monitoring technology, and in particular to an agricultural machinery monitoring method, device, electronic equipment and storage medium. Background Art

[0002] Agricultural machinery is an important part of agricultural production and one of the effective ways to develop agriculture, save labor, and increase farmers' income and wealth. Farmers usually need to use agricultural machinery to carry out production operations if they want to operate large-scale planting. To ensure normal operation, it is necessary to monitor the working conditions of agricultural machinery. Since most monitoring personnel are not at the operation site of agricultural machinery, it is necessary to remotely monitor the working conditions of agricultural machinery.

[0003] At present, the final driving trajectory of the agricultural machinery is drawn and displayed so that the monitoring personnel can remotely monitor the working condition of the agricultural machinery based on the final driving trajectory. However, the monitoring personnel subjectively judge the working condition of the agricultural machinery and rely too much on the experience of the monitoring personnel, which reduces the monitoring accuracy of the working condition of the agricultural machinery. Summary of the invention

[0004] The present invention provides an agricultural machinery monitoring method, device, electronic equipment and storage medium, which are used to solve the defect of low monitoring accuracy of the working condition of the agricultural machinery in the prior art, and can improve the monitoring accuracy of the working condition of the agricultural machinery.

[0005] The present invention provides an agricultural machinery monitoring method, comprising:

[0006] Obtaining a track viewing instruction, and determining a start time of track display and a target agricultural machine of which track is to be displayed based on the track viewing instruction;

[0007] Starting from the starting time, displaying the trajectory of the target agricultural machinery and the working status of the target agricultural machinery in sequence based on the agricultural machinery data of the target agricultural machinery;

[0008] The agricultural machinery data includes the position information of the target agricultural machinery at at least one moment, and the working status information of the target agricultural machinery at at least one moment, and the agricultural machinery data is used to render the trajectory of the target agricultural machinery.

[0009] According to an agricultural machinery monitoring method provided by the present invention, the track of the target agricultural machinery and the working status of the target agricultural machinery are displayed in chronological order based on the agricultural machinery data of the target agricultural machinery starting from the starting time, and the method also includes:

[0010] Acquiring agricultural machinery data required to display a target trajectory starting from the starting time;

[0011] The step of sequentially displaying the trajectory of the target agricultural machinery and the working status of the target agricultural machinery based on the agricultural machinery data of the target agricultural machinery in chronological order starting from the starting time includes:

[0012] Starting from the starting moment, the agricultural machinery data of the target agricultural machinery are rendered in sequence in chronological order, and the trajectory of the target agricultural machinery and the working status of the target agricultural machinery obtained by rendering are displayed in sequence.

[0013] According to an agricultural machinery monitoring method provided by the present invention, the sub-trajectory obtained by any rendering and the working state obtained by any rendering are rendered based on the following steps:

[0014] Rendering the sub-track based on the position information at any corresponding time;

[0015] Determine a trajectory display style corresponding to the sub-trajectory based on the working status information at any corresponding moment;

[0016] The sub-trajectory is rendered based on the trajectory display style.

[0017] According to an agricultural machinery monitoring method provided by the present invention, before obtaining the track viewing instruction, the method further includes:

[0018] Acquiring agricultural machinery data of the target agricultural machinery;

[0019] Based on the agricultural machinery data, an operation video is rendered; the operation video displays the trajectory of the target agricultural machinery and the working status of the target agricultural machinery.

[0020] According to an agricultural machinery monitoring method provided by the present invention, the agricultural machinery data is determined based on the following steps:

[0021] Obtaining raw agricultural machinery data;

[0022] When the original agricultural machinery data meets the preset point-adding condition, the original agricultural machinery data is supplemented to obtain the agricultural machinery data;

[0023] The preset filling point conditions include:

[0024] The original agricultural machinery data contains first agricultural machinery data and second agricultural machinery data adjacent in time, and the time difference between the time corresponding to the first agricultural machinery data and the time corresponding to the second agricultural machinery data exceeds a preset first time threshold.

[0025] According to an agricultural machinery monitoring method provided by the present invention, the method of supplementing the original agricultural machinery data to obtain the agricultural machinery data includes:

[0026] Determine a time period of the point to be supplemented based on the time corresponding to the first agricultural machinery data and the time corresponding to the second agricultural machinery data, and determine at least one time of the point to be supplemented from the time period of the point to be supplemented;

[0027] In the case where the time difference does not exceed a preset second time threshold, linear interpolation is performed based on the position information in the first agricultural machinery data and the position information in the second agricultural machinery data to obtain the position information corresponding to the at least one to-be-filled point at a moment, and the working status information in the first agricultural machinery data is determined as the working status information corresponding to the at least one to-be-filled point at a moment, and the agricultural machinery data is determined based on the position information corresponding to the at least one to-be-filled point at a moment, the working status information corresponding to the at least one to-be-filled point at a moment, and the original agricultural machinery data;

[0028] In the case where the time difference exceeds a preset second time threshold, the position information in the first agricultural machinery data is determined as the position information corresponding to the at least one to-be-filled point at the time, and the working status information corresponding to the at least one to-be-filled point at the time is set to the information corresponding to the offline state, and the agricultural machinery data is determined based on the position information corresponding to the at least one to-be-filled point at the time, the working status information corresponding to the at least one to-be-filled point at the time, and the original agricultural machinery data;

[0029] The second time threshold is greater than the first time threshold, and the time corresponding to the first agricultural machinery data is before the time corresponding to the second agricultural machinery data.

[0030] According to an agricultural machinery monitoring method provided by the present invention, the obtaining trajectory viewing instruction includes:

[0031] Acquire a trajectory viewing instruction triggered by a displayed timeline; the timeline includes a plurality of time blocks, and the block style of the time block is used to characterize the working state of the target agricultural machinery within the time period corresponding to the time block.

[0032] According to an agricultural machinery monitoring method provided by the present invention, the track of the target agricultural machinery and the working status of the target agricultural machinery are displayed in chronological order based on the agricultural machinery data of the target agricultural machinery starting from the starting time, and then further comprising:

[0033] Based on the position information of the at least one moment, determining a plurality of rendering positions of the target agricultural machinery on the trajectory of the target agricultural machinery and a running direction of the target agricultural machinery at each of the rendering positions;

[0034] Starting from the starting moment, in chronological order, based on each of the rendering positions and each of the running directions, the agricultural machinery icons corresponding to the target agricultural machinery are rendered onto the trajectory of the target agricultural machinery in sequence.

[0035] The present invention also provides a display device for agricultural machinery tracks, comprising:

[0036] An acquisition module, used for acquiring a track viewing instruction, and determining a start time of track display and a target agricultural machine of a track to be displayed based on the track viewing instruction;

[0037] A display module, configured to display the track of the target agricultural machinery and the working status of the target agricultural machinery in sequence based on the agricultural machinery data of the target agricultural machinery starting from the starting time in chronological order;

[0038] The agricultural machinery data includes the position information of the target agricultural machinery at at least one moment, and the working status information of the target agricultural machinery at at least one moment, and the agricultural machinery data is used to render the trajectory of the target agricultural machinery.

[0039] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, any of the agricultural machinery monitoring methods described above is implemented.

[0040] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the agricultural machinery monitoring method as described in any one of the above is implemented.

[0041] The agricultural machinery monitoring method, device, electronic device and storage medium provided by the present invention obtain a track viewing instruction, determine the starting time of the track display and the target agricultural machinery of the track to be displayed based on the track viewing instruction; in this way, the user can freely select the target agricultural machinery that he wants to view and the specific viewing time to meet the different needs of the user; from the starting time, the track of the target agricultural machinery and the working status of the target agricultural machinery are displayed in sequence based on the agricultural machinery data of the target agricultural machinery; wherein the agricultural machinery data includes the position information of the target agricultural machinery at at least one time, and the working status information of the target agricultural machinery at at least one time, and the agricultural machinery data is used to render the track of the target agricultural machinery; in this way, the track and working status of the target agricultural machinery can be displayed in sequence in time from the starting time, so that the user can view or understand the track and working status of the target agricultural machinery from a certain time (such as the starting time), so that the user can understand the working condition of the target agricultural machinery more clearly and comprehensively, and understand the working condition of the target agricultural machinery more directly without human judgment. Based on this, the monitoring accuracy of the working condition of the agricultural machinery can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0043] Figure 1 A schematic diagram of the structure of the agricultural machinery monitoring system provided by the present invention;

[0044] Figure 2 One of the flow charts of the agricultural machinery monitoring method provided by the present invention;

[0045] Figure 3 This is one of the schematic diagrams of the method for obtaining the trajectory viewing instruction provided by the present invention;

[0046] Figure 4 The second schematic diagram of the method for obtaining the track viewing instruction provided by the present invention;

[0047] Figure 5 The second flowchart of the agricultural machinery monitoring method provided by the present invention;

[0048] Figure 6 The third flowchart of the agricultural machinery monitoring method provided by the present invention;

[0049] Figure 7 The fourth flowchart of the agricultural machinery monitoring method provided by the present invention;

[0050] Figure 8 The fifth flowchart of the agricultural machinery monitoring method provided by the present invention;

[0051] Fig. 9 The sixth flow chart of the agricultural machinery monitoring method provided by the present invention;

[0052] Fig.10 The seventh flowchart of the agricultural machinery monitoring method provided by the present invention;

[0053] Fig.11 The eighth flowchart of the agricultural machinery monitoring method provided by the present invention;

[0054] Fig.12 A schematic diagram showing the effect of the agricultural machinery monitoring method provided by the present invention;

[0055] Fig.13 A schematic diagram of the structure of the agricultural machinery monitoring device provided by the present invention;

[0056] Fig.14 A schematic diagram of the physical structure of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0058] It should be noted that, in the present invention, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplary" or "for example" in the present invention should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0059] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0060] As described in the background technology, in order to monitor the working condition of agricultural machinery, the final driving trajectory of the agricultural machinery is usually drawn and displayed so that the monitoring personnel can remotely monitor the working condition of the agricultural machinery based on the final driving trajectory. However, the monitoring personnel subjectively judge the working condition of the agricultural machinery and rely too much on the experience of the monitoring personnel, resulting in reduced monitoring accuracy of the working condition of the agricultural machinery.

[0061] In this regard, the present invention provides an agricultural machinery monitoring method, which includes: obtaining a track viewing instruction, determining the starting time of track display and the target agricultural machinery whose track is to be displayed based on the track viewing instruction; starting from the starting time, displaying the track of the target agricultural machinery and the working status of the target agricultural machinery in sequence based on the agricultural machinery data of the target agricultural machinery in chronological order; wherein the agricultural machinery data includes the position information of the target agricultural machinery at at least one time, and the working status information of the target agricultural machinery at at least one time, and the agricultural machinery data is used to render the track of the target agricultural machinery. This method can improve the monitoring accuracy of the working conditions of the agricultural machinery.

[0062] In order to explain the solution more clearly, a farm machinery monitoring system provided by the present invention is first briefly introduced below. Figure 1 This is a schematic diagram of the structure of the agricultural machinery monitoring system provided by the present invention. Figure 1 As shown, the agricultural machine monitoring system 100 includes at least one agricultural machine 110 and a monitoring device 120 .

[0063] Among them, the agricultural machinery 110 is used for agricultural-related production operations. In some embodiments, the agricultural machinery 110 can record the original agricultural machinery data of the agricultural machinery, and the original agricultural machinery data includes the location information of the agricultural machinery 110 at at least one moment, and the working status information at at least one moment. In some embodiments, the agricultural machinery 110 sends the current location information and the current working status information to the monitoring device 120 in real time. In some embodiments, the agricultural machinery 110 can also store the original agricultural machinery data of the agricultural machinery; further, the original agricultural machinery data of the agricultural machinery is sent to the monitoring device 120 upon receiving a data request instruction or at preset intervals. In some embodiments, the agricultural machinery 110 can also send the original agricultural machinery data to a third-party storage device, such as a server (not shown in the figure), and the third-party storage device sends the original agricultural machinery data of the agricultural machinery 110 to the monitoring device 120 upon receiving a data request instruction or at preset intervals. In addition, when the agricultural machine 110 is in a sleep state, considering that the location information of the agricultural machine 110 has not actually changed, the agricultural machine 110 may not send the agricultural machine data in the sleep state to save communication overhead.

[0064] The monitoring device 120 is used to monitor the working conditions (such as position, trajectory, and working status, etc.) of the agricultural machinery 110. In some embodiments, the monitoring device 120 can obtain the original agricultural machinery data of the agricultural machinery 110. Further, the monitoring device 120 can directly use the original agricultural machinery data of the agricultural machinery 110 as the agricultural machinery data of the agricultural machinery 110; or perform data processing (such as data cleaning, data correction, abnormal point deletion, missing point supplementation, etc.) on the original agricultural machinery data, and use the processed data of the original agricultural machinery data as the agricultural machinery data of the agricultural machinery 110; the agricultural machinery data is used to render the trajectory of the agricultural machinery 110. In some embodiments, the monitoring device 120 can render an operating video based on the agricultural machinery data, and the operating video displays the trajectory and working status of the agricultural machinery. In some embodiments, the monitoring device 120 can also render the trajectory and working status of the agricultural machinery in real time based on the agricultural machinery data. It should be understood that the monitoring device 120 can also be used to implement any agricultural machinery monitoring method provided in the embodiments of the present invention. It should be noted that the monitoring device 120 can be located on the agricultural machinery 110 so that the operator on the agricultural machinery 110 can understand the working conditions of the agricultural machinery in real time; it can also be located in the monitoring room or other places where the monitoring personnel are located, so that the monitoring personnel can remotely monitor the working conditions of the agricultural machinery at the work site in real time; the monitoring device 120 can be a separate hardware device, or it can be integrated into other devices as a hardware module, or it can be in the form of software, applets or web pages, and the embodiments of the present invention do not impose specific restrictions on this.

[0065] It should be noted that, although the above-mentioned monitoring device 120 can implement the agricultural machinery monitoring method provided by the present invention, the agricultural machinery monitoring method provided by the present invention may also have other execution entities. For example, the execution entity may also be a server or a terminal, such as a mobile phone, a tablet computer, a handheld computer, a laptop computer, an augmented reality (AR) device, a virtual reality (VR) device, etc. For another example, the execution entity may also be any other chip with processing functions, such as a central processing unit, an image processing unit, a general processor, a network processor, a digital signal processor, a microprocessor, a microcontroller, a programmable logic device, or any combination thereof.

[0066] In addition, the agricultural machinery monitoring method provided by the present invention can be applied to any operation scenario where agricultural machinery needs to be monitored, and the present invention does not impose any specific limitations on this.

[0067] For ease of understanding, the agricultural machinery monitoring method provided by the present invention is specifically introduced below with reference to the accompanying drawings.

[0068] Figure 2 One of the flow charts of the agricultural machinery monitoring method provided by the present invention is as follows: Figure 2 As shown, the agricultural machinery monitoring method includes:

[0069] Step S210: Obtain a track viewing instruction, and determine the start time of track display and the target agricultural machine of the track to be displayed based on the track viewing instruction.

[0070] The starting time includes the current time and / or the historical time, so that the user can freely select the time he or she wants to view, to meet the user's specific viewing needs.

[0071] When there is only one agricultural machine, the agricultural machine can be directly defaulted as the target agricultural machine or determined as the target agricultural machine based on the trajectory viewing instruction; when there are multiple agricultural machines, the target agricultural machine can be determined from the multiple agricultural machines based on the trajectory viewing instruction.

[0072] The target agricultural machine may be single or multiple. Furthermore, when there are multiple target agricultural machines, the tracks and working status of each of the multiple target agricultural machines may be displayed on the same map at the same time; or, the tracks and working status of each target agricultural machine may be displayed on multiple maps respectively. Based on this, it is convenient for users to freely select the target agricultural machine they want to view, which meets the specific needs of users.

[0073] The track viewing instruction may be determined based on a single user operation or a combination of multiple user operations.

[0074] As a specific example, Figure 3 One of the schematic diagrams of obtaining the track viewing instruction is shown in FIG. 1 . In the case where the track viewing instruction is determined based on a single user operation, a timeline of at least one agricultural machine may be displayed, and a slidable moment selection component may be present on the timeline of each agricultural machine. Figure 3 , the timeline 310 corresponding to the agricultural machine 1, the timeline 320 corresponding to the agricultural machine 2, and the timeline 330 corresponding to the agricultural machine 3 can be displayed on the monitoring interface, and the slidable moment selection component 311 is displayed on the timeline 310 corresponding to the agricultural machine 1. When the moment selection component 311 is clicked or slid, a track viewing instruction is obtained, and the track viewing instruction is used to indicate that the starting time of the track display is the time corresponding to the position of the moment selection component 311 in the timeline 310, and the target agricultural machine to display the track is the agricultural machine 1 corresponding to the timeline 310. In this way, it is possible to obtain the track viewing instruction based on a single user operation.

[0075] As another specific example, Figure 4 FIG. 2 shows a second schematic diagram of a method for obtaining a track viewing instruction. When the track viewing instruction is determined based on multiple user operations, a single timeline and an agricultural machinery selection area may be displayed, and the agricultural machinery selection area may include multiple agricultural machinery selection controls. Figure 4 , the agricultural machinery selection area 410 may include an agricultural machinery selection control 411 corresponding to agricultural machinery 1, an agricultural machinery selection control 412 corresponding to agricultural machinery 2, and an agricultural machinery selection control 413 corresponding to agricultural machinery 3. There is a moment selection component 421 on the timeline 420, and the moment selection component 421 is used to set the starting moment of the track display. Further, when the agricultural machinery selection control 413 corresponding to agricultural machinery 3 is clicked, and the moment selection component 421 is clicked or slid, a track viewing instruction is obtained; the track viewing instruction is used to indicate that the starting moment of the track display is the moment corresponding to the position of the moment selection component 421 in the timeline 420, and the target agricultural machinery to display the track is the agricultural machinery 3 corresponding to the agricultural machinery selection control 413. It should be understood that the multiple agricultural machinery selection controls in the above agricultural machinery selection area can be set to be single-select only or multiple-selectable. When the agricultural machinery selection control is set to be single-select only, the track and working status of only one agricultural machinery can be displayed at a time; when the agricultural machinery selection control is set to be multiple-selectable, the tracks and working status of multiple agricultural machinery can be displayed at the same time. In this way, it is possible to obtain track viewing instructions based on multiple user operations.

[0076] It should be understood that the above-mentioned method of obtaining the track viewing instruction is only an example, and there may be other methods of obtaining the instruction. For example, the track of the agricultural machinery may not be displayed by default, and the track viewing panel may be displayed only when the track display instruction is obtained, and the track viewing instruction is obtained based on the user operation acting on the track viewing panel.

[0077] Step S220 , starting from the start time and in chronological order, the trajectory of the target agricultural machinery and the working status of the target agricultural machinery are displayed in sequence based on the agricultural machinery data of the target agricultural machinery.

[0078] The agricultural machinery data includes location information of the target agricultural machinery at at least one moment, and working status information of the target agricultural machinery at at least one moment, and the agricultural machinery data is used to render the trajectory of the target agricultural machinery.

[0079] Here, the location information is the geographical location information of the target agricultural machinery, which may also be called world coordinates, or longitude and latitude information, etc. Based on this, data support can be provided for rendering or displaying the trajectory of the target agricultural machinery, so that the user can more clearly understand the location or trajectory of the target agricultural machinery.

[0080] Here, the working status information can characterize the working status of the target agricultural machinery. Exemplarily, the working status of the target agricultural machinery may include at least one of the following: operating status, transport status, and offline status, etc. Among them, the transport status is used to characterize that the target agricultural machinery is normally turned on but is not in an operating state; for example, when the target agricultural machinery completes the production operation in a certain area and goes to the next area, or when the target agricultural machinery turns and goes to the next area, it can be considered that the target agricultural machinery is in a transport state. In addition, the offline state can also be referred to as a dormant state. It should be understood that the above-mentioned working status is only an example, and there may be other working states in actual operation production, such as abnormal state, fault state, etc. Based on this, data support can be provided for displaying the working status of the target agricultural machinery, so that the user can understand the working status of the target agricultural machinery more clearly.

[0081] In some embodiments, the agricultural machinery data is original agricultural machinery data of the target agricultural machinery.

[0082] In other embodiments, the agricultural machinery data is data obtained after processing the original agricultural machinery data of the target agricultural machinery (such as data cleaning, data correction, abnormal point deletion, missing point supplementation, etc.).

[0083] In some embodiments, agricultural machinery data can be stored in the form of at least one data group, each data group corresponds to a moment, the location information of the target agricultural machinery at that moment, and the working status information of the target agricultural machinery at that moment. For example, for one of the above-mentioned multiple data groups, the data group can be in the following form: [timestamp, longitude and latitude, number corresponding to the working status]. Among them, the longitude and latitude are the location information of the target agricultural machinery; the number corresponding to the working status can be understood as a kind of working status information, and the number corresponding to the working status is used to characterize the working status of the target agricultural machinery, and each number corresponds to a working status; the timestamp is used to characterize the moment when the target agricultural machinery records or sends the location information and working status information of the target agricultural machinery. Furthermore, a preset working status number table can also exist in the execution body of the embodiment of the present invention, so as to determine the working status of the target agricultural machinery from the preset working status number table based on the number corresponding to the working status, and then display the working status of the target agricultural machinery.

[0084] In some embodiments, each moment in at least one moment in the agricultural machinery data is irregularly arranged. Exemplarily, when the target agricultural machinery records and sends the location information and working status information of the target agricultural machinery at a random time point, each moment in the agricultural machinery data of the target agricultural machinery is irregularly arranged.

[0085] In other embodiments, each moment in at least one moment in the agricultural machinery data is regularly arranged. As a specific embodiment, the time difference between each moment in the above at least one moment is a preset third time threshold. For example, every time the time passes the third time threshold, the target agricultural machinery records the position information and working status information of the target agricultural machinery at the current moment, and sends it to the execution subject of the embodiment of the present invention, so that the time difference between each moment of the agricultural machinery data obtained by the execution subject is the preset third time threshold. It should be noted that, in the case where the target agricultural machinery only sends agricultural machinery data in an operating state or a transport state, the execution subject of the embodiment of the present invention can also supplement points based on the original agricultural machinery data obtained to supplement the position information and working status of the target agricultural machinery when it is in a dormant state, so that the time difference between each moment in the agricultural machinery data of the target agricultural machinery finally obtained is the preset third time threshold. Based on this, each moment in the agricultural machinery data can be arranged regularly. Furthermore, if it is necessary to display the trajectory of the target agricultural machinery and the working status of the target agricultural machinery in the form of video frames, since the frame numbers of the video frames are also arranged regularly, it is possible to quickly correspond the various moments in the agricultural machinery data to the frame numbers, thereby improving the efficiency of rendering and displaying the trajectory and working status of the target agricultural machinery. In addition, since the frame numbers of the video frames and the various moments in the agricultural machinery data are evenly arranged, the display rate of the trajectory of the target agricultural machinery and the actual operating rate of the agricultural machinery can be positively correlated, so that the trajectory of the target agricultural machinery can be more realistically reflected. It should be noted that the above-mentioned method of arranging the various moments according to the preset third time threshold is only an example, and there may be other rules, and the embodiment of the present invention does not impose specific restrictions on this.

[0086] In some embodiments, the above starting time is the current time. In the case where the starting time is the current time, the track and working status of the target agricultural machine can be displayed in real time.

[0087] In other embodiments, the above starting time is a historical moment. In the case where the starting time is a historical moment, the user can understand the operation status of the target agricultural machinery from the historical moment based on the specific historical moment.

[0088] The agricultural machinery monitoring method provided by the embodiment of the present invention obtains a track viewing instruction, determines the starting time of the track display and the target agricultural machinery of the track to be displayed based on the track viewing instruction; in this way, the user can freely select the target agricultural machinery that he wants to view and the specific viewing time to meet the different needs of the user; starting from the starting time, the track of the target agricultural machinery and the working status of the target agricultural machinery are displayed in sequence based on the agricultural machinery data of the target agricultural machinery; wherein the agricultural machinery data includes the position information of the target agricultural machinery at at least one time, and the working status information of the target agricultural machinery at at least one time, and the agricultural machinery data is used to render the track of the target agricultural machinery; in this way, the track and working status of the target agricultural machinery can be displayed in sequence in time from the starting time, so that the user can view or understand the track and working status of the target agricultural machinery from a certain time (such as the starting time), so that the user can understand the working condition of the target agricultural machinery more clearly and comprehensively, and understand the working condition of the target agricultural machinery more directly without human judgment. Based on this, the monitoring accuracy of the working condition of the agricultural machinery can be improved.

[0089] Based on any of the above embodiments, Figure 5 The second flow chart of the agricultural machinery monitoring method provided by the present invention is as follows: Figure 5 As shown, before step S220, it also includes:

[0090] Step S230: Acquire the agricultural machinery data required to display the target trajectory starting from the starting time.

[0091] Among them, the agricultural machinery data required for displaying the target trajectory starting from the starting time include: the position information of the target agricultural machinery at each time after the starting time (including the starting time), and the working status information of the target agricultural machinery at each time after the starting time (including the starting time).

[0092] The above step S220 includes:

[0093] Step S221, starting from the starting time, the agricultural machinery data of the target agricultural machinery are sequentially rendered in chronological order, and the trajectory of the rendered target agricultural machinery and the working status of the rendered target agricultural machinery are sequentially displayed.

[0094] In some embodiments, the trajectory of the target agricultural machinery obtained by the above rendering may only include the trajectory of the target agricultural machinery after the starting time; the working state of the target agricultural machinery obtained by the above rendering may only include the working state of the target agricultural machinery after the starting time.

[0095] Exemplarily, when the trajectory of the target agricultural machinery rendered above only includes the trajectory of the target agricultural machinery after the starting moment, and the working status of the target agricultural machinery rendered only includes the working status of the target agricultural machinery after the starting moment, step S221 can be implemented as follows: based on the agricultural machinery data of the target agricultural machinery, the target trajectory and working status starting from the starting moment are rendered frame by frame on the first map, and the rendered target trajectory and working status are displayed frame by frame. The first map is a map that does not include the historical trajectory and historical working status of the target agricultural machinery. Among them, the historical trajectory is the trajectory of the target agricultural machinery before the starting moment, and the historical working status is the working status of the target agricultural machinery before the starting moment. Based on this, only the trajectory and working status of the target agricultural machinery after the starting moment can be displayed, so that the user can more clearly and intuitively display the working status of the target agricultural machinery after the starting moment (including the starting moment).

[0096] In other embodiments, the trajectory of the target agricultural machinery obtained by rendering includes not only the trajectory of the target agricultural machinery after the starting moment, but also the historical trajectory of the target agricultural machinery; the working status of the target agricultural machinery obtained by rendering includes not only the working status of the target agricultural machinery after the starting moment, but also the historical working status of the target agricultural machinery.

[0097] Exemplarily, when the trajectory of the target agricultural machinery obtained by the above rendering includes not only the trajectory of the target agricultural machinery after the starting moment, but also the historical trajectory of the target agricultural machinery; when the working status of the target agricultural machinery obtained by the rendering includes not only the working status of the target agricultural machinery after the starting moment, but also the historical working status of the target agricultural machinery, step S221 can be implemented as follows: based on the agricultural machinery data of the target agricultural machinery, the target trajectory and working status starting from the starting moment are rendered frame by frame on the second map, and the rendered target trajectory and working status are displayed frame by frame. The second map is a map including the historical trajectory and historical working status of the target agricultural machinery. Based on this, while the trajectory and working status of the target agricultural machinery after the starting moment are displayed in sequence, the trajectory and working status before the starting moment are also displayed, so that the user can have a more complete understanding of the working condition of the target agricultural machinery.

[0098] The agricultural machinery monitoring method provided by the embodiment of the present invention can, on the one hand, only use the agricultural machinery data after the start time instead of all the agricultural machinery data for rendering, thereby improving the rendering efficiency and display efficiency of the trajectory and working status of the target agricultural machinery. On the other hand, the trajectory and working status of the target agricultural machinery can be displayed in real time, so that the user can monitor the working condition of the target agricultural machinery in real time.

[0099] Based on any of the above embodiments, Figure 6 The third flow chart of the agricultural machinery monitoring method provided by the present invention is as follows: Figure 6As shown, the sub-tracks obtained by any rendering and the working state obtained by any rendering are rendered based on the following steps:

[0100] Step S2211: Render the sub-trajectory based on the position information at any corresponding time.

[0101] Among them, the sub-trajectory can be understood as the trajectory of the target agricultural machinery between two adjacent moments.

[0102] In some embodiments, based on the position information of any corresponding moment and the position information of the previous corresponding moment, a sub-track between any corresponding moment and the previous corresponding moment is rendered; when any corresponding moment is the earliest moment, the sub-track may not be rendered, or the position information corresponding to the moment may be rendered as a starting point icon, for example, as a circular icon or an icon in other forms.

[0103] Step S2212: Determine the trajectory display style corresponding to the sub-trajectory based on the working status information at any corresponding moment.

[0104] In some embodiments, the track display style may include a track display color. For example, when the working status information at any corresponding moment indicates that the target agricultural machine is in the working state at that moment, the track display color corresponding to the sub-track is green; when the working status information at any corresponding moment indicates that the target agricultural machine is in the transport state at that moment, the track display color corresponding to the sub-track is yellow; when the working status information at any corresponding moment indicates that the target agricultural machine is in the offline state at that moment, the track display color corresponding to the sub-track is gray.

[0105] It should be noted that the above track display styles are only examples. In actual applications, the track display style can also be track display width (which can also be understood as track display thickness), track display transparency, track display real or virtual, track display brightness, etc. Based on this, different working state information can correspond to different track styles, so as to distinguish sub-tracks in different working states.

[0106] Step S2213: Render the sub-trajectory based on the trajectory display style.

[0107] For example, when the track display color corresponding to a sub-track is green, the pixel color of each pixel in the sub-track may be set to green based on the track display color of the track.

[0108] For another example, when the track display width corresponding to a sub-track is the first width, the width of the sub-track may be rendered as the first width based on the track display width of the track.

[0109] The agricultural machinery monitoring method provided by the embodiment of the present invention renders sub-trajectories based on the position information at any corresponding moment; in this way, each sub-trajectory of the target agricultural machinery can be rendered one by one, thereby generating the final trajectory of the target agricultural machinery; based on the working status information at any corresponding moment, the trajectory display style corresponding to the sub-trajectory is determined; in this way, the sub-trajectories under different working states can be distinguished by the trajectory display style, so that the user only needs to look at the trajectory display style of the trajectory to determine the working status of the target agricultural machinery, so that the user can understand the working condition of the target agricultural machinery more comprehensively and intuitively.

[0110] Based on any of the above embodiments, Figure 7 The fourth flow chart of the agricultural machinery monitoring method provided by the present invention is as follows: Figure 7 As shown, before step S210, it also includes:

[0111] Step S710: Acquire agricultural machinery data of the target agricultural machinery.

[0112] The agricultural machinery data of the target agricultural machinery includes the location information of the target agricultural machinery at at least one time, and the working state information of the target agricultural machinery at at least one time. The specific content of the agricultural machinery data can refer to the description in step S220 above, which will not be described in detail here.

[0113] Step S720: Render an operation video based on the agricultural machinery data; the operation video displays the trajectory of the target agricultural machinery and the working status of the target agricultural machinery.

[0114] In some embodiments, the operation video includes at least one video frame, and each video frame corresponds to a moment in the agricultural machinery data. Exemplarily, step S720 can be specifically implemented as follows: in chronological order, the position information and working status information corresponding to each moment in at least one moment are rendered in sequence to obtain video frames corresponding to each moment; wherein, the video frame corresponding to each moment displays the trajectory and working status of the target agricultural machinery at that moment, and the frame number of each video frame corresponds to a moment. The rendered video frames corresponding to each moment are sorted according to the frame number to obtain the operation video. It should be understood that since the frame numbers of the video frames are evenly arranged in chronological order, the trajectory and working status of the target agricultural machinery can be displayed in chronological order based on the frame number. In addition, when the moments in the agricultural machinery data are also evenly arranged, the display rate of the trajectory of the target agricultural machinery finally displayed in the operation video is positively correlated with the actual operation rate of the target agricultural machinery, so that the user can understand the working condition of the target agricultural machinery more realistically.

[0115] based on Figure 7In the embodiment shown, in some embodiments, step S220 can be specifically implemented as follows: determining a target running video starting from a starting moment from the running video; and playing the target running video in chronological order starting from the starting moment.

[0116] based on Figure 7 In the embodiment shown, in other embodiments, step S220 can also be specifically implemented as follows: based on the starting time, a target video frame whose frame number corresponds to the starting time is determined from multiple video frames of the running video, and the target video frame is used to display the trajectory and working status of the target agricultural machinery at the starting time; starting from the target video frame, the running video is played in chronological order.

[0117] The agricultural machinery monitoring method provided by the embodiment of the present invention can generate in advance an operation video for displaying the trajectory and working status of the target agricultural machinery, so that the user can view or understand the trajectory and working status of the target agricultural machinery from a certain moment (for example, the starting moment) based on the operation video, thereby allowing the user to understand the working condition of the target agricultural machinery more clearly and comprehensively.

[0118] Based on any of the above embodiments, the agricultural machinery monitoring method provided by the present invention also includes: when a playback rate setting instruction is received, determining the playback rate indicated by the playback rate setting instruction, and displaying the trajectory of the target agricultural machinery and the working status of the target agricultural machinery in sequence according to the playback rate.

[0119] The agricultural machinery monitoring method provided by the embodiment of the present invention can display the trajectory and working status of the target agricultural machinery at a certain playback rate from the starting moment; wherein, when the playback rate is high (for example, higher than 1 times the playback rate), the trajectory and working status of the target agricultural machinery can be displayed quickly, saving the user's viewing time and improving the user's efficiency in monitoring the working condition of the target agricultural machinery; when the playback rate is low (for example, lower than 1 times the playback rate), the user can have time to more clearly understand the details of the trajectory and working status of the target agricultural machinery; based on this, it can adapt to the different needs of users for the playback rate and improve the user experience.

[0120] Based on any of the above embodiments, Figure 8 The fifth flow chart of the agricultural machinery monitoring method provided by the present invention is as follows: Figure 8 , agricultural machinery data is determined based on the following steps:

[0121] Step S810: Obtain original agricultural machinery data.

[0122] Step S820: When the original agricultural machinery data meets the preset point-adding condition, the original agricultural machinery data is supplemented to obtain the agricultural machinery data.

[0123] Among them, the preset filling point conditions include: there are first agricultural machinery data and second agricultural machinery data with adjacent times in the original agricultural machinery data, and the time difference between the time corresponding to the first agricultural machinery data and the time corresponding to the second agricultural machinery data exceeds the preset first time threshold.

[0124] In some embodiments, the first time threshold may be 120 seconds.

[0125] In some embodiments, if the target agricultural machinery sends the current position information and working status information of the target agricultural machinery to the execution subject of the embodiment of the present invention once every preset time, the execution subject can determine the first time threshold based on the preset time. For example, the first time threshold can be equal to twice the preset time, or equal to 1.5 times the preset time.

[0126] It should be understood that when the time difference between the moments corresponding to two original agricultural machinery data exceeds a certain time threshold (for example, a preset first time threshold), it can be considered that there may be missing data points in the original agricultural machinery data (for example, missing data points caused by a temporary loss of connection due to a signal problem with the target agricultural machinery, or missing data points caused by the target agricultural machinery entering an offline state), and therefore the original agricultural machinery data needs to be supplemented.

[0127] The agricultural machinery monitoring method provided by the embodiment of the present invention can fill in missing points in the original agricultural machinery data to improve the accuracy of the agricultural machinery data, thereby improving the accuracy of the trajectory of the target agricultural machinery and the working status of the target agricultural machinery rendered and displayed based on the agricultural machinery data, and further improving the accuracy of monitoring the working conditions of the agricultural machinery.

[0128] Based on any of the above embodiments, the above step S820 includes:

[0129] Determine a time period of the point to be supplemented based on the time corresponding to the first agricultural machinery data and the time corresponding to the second agricultural machinery data, and determine at least one time of the point to be supplemented from the time period of the point to be supplemented;

[0130] The working status information corresponding to the at least one waiting-to-be-replenished point is set to: information corresponding to the offline state, working status information corresponding to the first agricultural machinery data, or working status information corresponding to the second agricultural machinery data;

[0131] The position information corresponding to the at least one point to be supplemented is set to: the position information corresponding to the first agricultural machinery data, the position information corresponding to the second agricultural machinery data, or the position information determined based on the position information corresponding to the first agricultural machinery data and the position information corresponding to the second agricultural machinery data.

[0132] In a specific example, the position information determined based on the position information corresponding to the first agricultural machinery data and the position information corresponding to the second agricultural machinery data is determined in the following manner: based on the position information in the first agricultural machinery data and the position information in the second agricultural machinery data, linear interpolation is performed on each moment of the point to be supplemented according to the speed movement to obtain the position information corresponding to each moment of the point to be supplemented.

[0133] In another specific example, the position information determined based on the position information corresponding to the first agricultural machinery data and the position information corresponding to the second agricultural machinery data is determined in the following manner: based on the position information corresponding to the first agricultural machinery data and the position information corresponding to the second agricultural machinery data, the movement speed of the target agricultural machinery at the moment corresponding to the first agricultural machinery data and the movement speed of the target agricultural machinery at the moment corresponding to the second agricultural machinery data are calculated; based on the moment of each point to be supplemented, the position information of each point to be supplemented is interpolated according to uniform acceleration motion to obtain the position information corresponding to each point to be supplemented.

[0134] The agricultural machinery monitoring method provided by the embodiment of the present invention can supplement points based on the first agricultural machinery data and the second agricultural machinery data to improve the accuracy of the agricultural machinery data, thereby improving the accuracy of the trajectory of the target agricultural machinery and the working status of the target agricultural machinery rendered and displayed based on the agricultural machinery data, and further improving the accuracy of monitoring the working conditions of the agricultural machinery.

[0135] Based on any of the above embodiments, Fig. 9 The sixth flow chart of the agricultural machinery monitoring method provided by the present invention is shown in FIG. Fig. 9 The above step S820 includes:

[0136] Step S821: determine a time period of the point to be supplemented based on the time corresponding to the first agricultural machinery data and the time corresponding to the second agricultural machinery data, and determine at least one time of the point to be supplemented from the time period of the point to be supplemented.

[0137] In some embodiments, step S821 includes: determining the time period of the points to be supplemented based on the moment corresponding to the first agricultural machinery data and the moment corresponding to the second agricultural machinery data; determining the number of points to be supplemented; determining at least one moment of the points to be supplemented based on the determined number of points to be supplemented and the time period of the points to be supplemented; wherein the moments of the points to be supplemented are evenly distributed on the time axis.

[0138] In other embodiments, step S821 includes: determining the time period of the point to be supplemented based on the moment corresponding to the first agricultural machinery data and the moment corresponding to the second agricultural machinery data; determining at least one moment of the point to be supplemented from the time period of the point to be supplemented based on the preset time intervals of each moment, so that the time interval between each moment of the point to be supplemented and the previous moment is equal to the preset time interval between each moment.

[0139] Step S822: When the time difference does not exceed a preset second time threshold, linear interpolation is performed based on the position information in the first agricultural machinery data and the position information in the second agricultural machinery data to obtain the position information corresponding to the moment of at least one point to be supplemented, and the working status information in the first agricultural machinery data is determined as the working status information corresponding to the moment of at least one point to be supplemented; the agricultural machinery data is determined based on the position information corresponding to the moment of at least one point to be supplemented, the working status information corresponding to the moment of at least one point to be supplemented and the original agricultural machinery data.

[0140] The second time threshold is greater than the first time threshold, and the time corresponding to the first agricultural machinery data is before the time corresponding to the second agricultural machinery data.

[0141] In some embodiments, when the working status information of the first agricultural machinery data and the second agricultural machinery data are different, the working status information of the first agricultural machinery data can be determined as the working status information corresponding to the time of the point to be supplemented, or the working status information of the second agricultural machinery data can be determined as the working status information corresponding to the time of the point to be supplemented.

[0142] In some embodiments, the position information corresponding to the time of the at least one point to be supplemented is determined based on the following formula: the position information corresponding to the time of the point to be supplemented = (the distance difference between the position information in the first agricultural machinery data and the position information in the second agricultural machinery data / the number of milliseconds between the intervals) * (the current time of the point to be supplemented - the previous time of the current time of the point to be supplemented). Based on this, the position information corresponding to the time of the at least one point to be supplemented can be obtained.

[0143] It should be understood that when the time difference exceeds the first time threshold but does not exceed the second time threshold, it can be considered that the target agricultural machinery is offline, but not offline for a long time. Therefore, it is considered that the target agricultural machinery has not entered the offline state (that is, the dormant state), but has a short-term loss of connection (for example, a short-term loss of connection caused by a poor signal at the work site, etc.), resulting in the loss of individual data. In this case, the target agricultural machinery usually does not change its working state, so the working state information of the first agricultural machinery data can be determined as the working state information corresponding to the time of the point to be supplemented.

[0144] Step S823: When the time difference exceeds a preset second time threshold, the position information in the first agricultural machinery data is determined as the position information corresponding to the moment of at least one point to be supplemented, and the working status information corresponding to the moment of at least one point to be supplemented is set to the information corresponding to the offline state; the agricultural machinery data is determined based on the position information corresponding to the moment of at least one point to be supplemented, the working status information corresponding to the moment of at least one point to be supplemented and the original agricultural machinery data.

[0145] Among them, the second time threshold is greater than the first time threshold, and the moment corresponding to the first agricultural machinery data is before the moment corresponding to the second agricultural machinery data. It should be understood that when the time difference exceeds the second time threshold, it can be considered that the target agricultural machinery has been offline for a long time without sending agricultural machinery data, so it is considered that the target agricultural machinery may enter an offline state, that is, a dormant state. In this case, the target agricultural machinery usually does not change its position, so the position information of the first agricultural machinery data can be determined as the position information corresponding to the time of the waiting point, and the working status information at the time of the waiting point is set to the information corresponding to the offline state.

[0146] The agricultural machinery monitoring method provided by the embodiment of the present invention can, when there are missing data points in the original agricultural machinery data, supplement the original agricultural machinery data according to different situations (for example, the missing data points are due to the temporary loss of connection with the target agricultural machinery, or the missing data points are due to the target agricultural machinery entering an offline state) to improve the accuracy of the supplemented points in the original agricultural machinery data, thereby improving the accuracy of the trajectory of the target agricultural machinery and the working status of the target agricultural machinery rendered and displayed based on the agricultural machinery data, and further improving the accuracy of monitoring the working conditions of the agricultural machinery.

[0147] In some embodiments, based on Fig. 9 In the embodiment shown, the method further includes: when the time difference exceeds a preset fourth time threshold, a first alarm message is issued, and the first alarm message is used to indicate that at least one of the communication module of the target agricultural machinery and the communication module in the execution subject of the embodiment of the present invention is faulty. The fourth time threshold is greater than the second time threshold. It should be understood that when the time difference exceeds the fourth time threshold, it can be considered that the target agricultural machinery has been dormant for too long, exceeding the normal dormancy time; then the loss of the original agricultural machinery data point may be due to the failure of the communication module of the target agricultural machinery and / or the communication module in the execution subject of the embodiment of the present invention, and therefore the first alarm message is issued for prompting.

[0148] In some embodiments, based on Fig. 9In the embodiment shown, the above method also includes: for multiple original agricultural machinery data that are continuous at all times in the original agricultural machinery data, if the working states corresponding to the working state information of the multiple original agricultural machinery data are all operating states or transport states, and the position information of the multiple original agricultural machinery data is the same, then a second alarm message is issued; the second alarm message is used to indicate that a fault occurs during the operation of the target agricultural machinery. It should be understood that when the position information of multiple original agricultural machinery data that are continuous at all times in the original agricultural machinery data is the same, it means that the target agricultural machinery stays near a position for a long time; but when the target agricultural machinery is in an operating state or a transport state, it will not stay near a position for a long time. Therefore, it is considered that a fault occurs during the operation of the target agricultural machinery (for example, a tire failure of the target agricultural machinery, or an obstacle that hinders the operation of the target agricultural machinery appears in front, etc.), and a second alarm message is issued for prompting.

[0149] Based on any of the above embodiments, Fig.10 The seventh flow chart of the agricultural machinery monitoring method provided by the present invention, the above step S210 includes:

[0150] Step S211, obtaining a trajectory viewing instruction triggered by the displayed time axis; the time axis includes multiple time blocks, and the block style of the time block is used to represent the working status of the target agricultural machinery in the time period corresponding to the time block.

[0151] In some embodiments, the block style includes but is not limited to at least one of the following: block color, block brightness, block saturation, and block transparency.

[0152] The agricultural machinery monitoring method provided by the embodiment of the present invention can display the working status of the target agricultural machinery in each time period on the time axis, so that the user can see the working status of the target agricultural machinery in each time period from the time axis, thereby more intuitively displaying the operation status of the target agricultural machinery; in addition, the user can freely select the trajectory of the target agricultural machinery in the time period corresponding to the working status he wants to view based on the time axis, which is convenient for adapting to different needs of users. Based on this, the user can understand the working status of the target agricultural machinery more clearly, comprehensively and intuitively, and improve the accuracy of monitoring the working status of the agricultural machinery.

[0153] Based on any of the above embodiments, Fig.11 The eighth flow chart of the agricultural machinery monitoring method provided by the present invention, after the above step S220, further includes:

[0154] Step S240: determining a plurality of rendering positions of the target agricultural machinery on the trajectory of the target agricultural machinery and a running direction of the target agricultural machinery at each rendering position based on the position information at at least one moment.

[0155] In some embodiments, the above rendering position can be understood as the pixel coordinates of the target agricultural machinery. Exemplarily, when the trajectory of the target agricultural machinery is displayed on a map, the pixel coordinates of the map and the position information at each moment, such as the world coordinates at each moment, can be used to convert the world coordinates to pixel coordinates to obtain the pixel coordinates at each moment, that is, the multiple rendering positions of the target agricultural machinery on the trajectory of the target agricultural machinery. Based on this, the multiple rendering positions of the target agricultural machinery on the trajectory of the target agricultural machinery can be determined.

[0156] In some embodiments, the running direction of the target agricultural machinery at each rendering position is determined based on the following method: for a second rendering position other than the initial rendering position, the second running direction of the target agricultural machinery at the second rendering position is determined based on the pixel coordinates of the second rendering position, the pixel coordinates of the first rendering position at the previous moment, and the first running direction of the first rendering position; the initial rendering position is the rendering position corresponding to the earliest moment of the at least one moment mentioned above, and the initial running direction of the initial rendering position can be set to a default running direction.

[0157] In some embodiments, the running direction of the target agricultural machinery may also be indicated by the running angle of the target agricultural machinery (i.e., the angle between the running direction and the north direction). When the running direction of the target agricultural machinery is indicated by the running angle of the target agricultural machinery, the running angle of the target agricultural machinery may be determined based on the following code:

[0158]

[0159] Step S250, starting from the starting time, in chronological order, based on each rendering position and each running direction, the agricultural machinery icon corresponding to the target agricultural machinery is rendered onto the track of the target agricultural machinery.

[0160] It should be noted that the above-mentioned method of executing step S240 and step S250 after step S220 is only one possible situation; in other embodiments, step S240 and step S250 may also be executed in the above-mentioned step S720, and the embodiment of the present invention does not impose any specific limitation on this.

[0161] The agricultural machinery monitoring method provided by the embodiment of the present invention can render the agricultural machinery icon corresponding to the target agricultural machinery onto the track of the target agricultural machinery in sequence based on the multiple rendering positions of the target agricultural machinery on the track of the target agricultural machinery and the running direction at each rendering position, so that the user can directly know the running direction of the target agricultural machinery at each moment and the position on the track according to the agricultural machinery icon. Thus, the user can understand the working condition of the target agricultural machinery more clearly and comprehensively. Based on this, the monitoring accuracy of the working condition of the agricultural machinery can be improved.

[0162] In order to more clearly illustrate the agricultural machinery monitoring method provided by the embodiment of the present invention, Fig.12The effect diagram of the agricultural machinery monitoring method provided by the present invention is shown below. The following description is made by taking the monitoring device as an example in which the execution subject of the embodiment of the present invention is a monitoring device.

[0163] Reference Fig.12 , the monitoring device shows a time axis 1210, a track 1220 of the target agricultural machine, and a working state of the target agricultural machine. The working state of the target agricultural machine is displayed based on the style of the track and / or the style of each time block in the time axis.

[0164] It can be seen that the trajectory of the target agricultural machinery is displayed on the map, and the map includes a circular area of ​​farmland. The trajectory 1220 of the target agricultural machinery includes a solid line trajectory and a dotted line trajectory; wherein the solid line trajectory is used to indicate that the target agricultural machinery is in operation, the dotted line trajectory is used to indicate that the target agricultural machinery is in transit, and the circular ring icon is used to indicate that the target agricultural machinery is in an offline state (i.e., a dormant state); the agricultural machinery icon of the target agricultural machinery is also displayed on the trajectory 1220. It should be understood that since the target agricultural machinery is not moving when it is offline, it can be represented in the form of a circular ring icon. In other examples, the target agricultural machinery may not be displayed on the trajectory when it is offline. Based on this, the user can view the operation status of the target agricultural machinery according to the trajectory of the target agricultural machinery, and then monitor the operation based on the trajectory. For example, it is possible to monitor whether the target agricultural machinery has turned too early, the farmland area is not fully covered, etc. based on the trajectory.

[0165] The time axis 1210 includes a plurality of time blocks, each of which displays a different block style, and each block style time block corresponds to a working state of a target agricultural machine. For example, the time period corresponding to the pure black time block is when the target agricultural machine is in operation, the time period corresponding to the pure white time block is when the target agricultural machine is offline, and the time period corresponding to the time block in the oblique line area is when the target agricultural machine is in transit. Based on this, the working state of the target agricultural machine in each time period can be displayed on the time axis, so that the user can see the working state of the target agricultural machine in each time period from the time axis, thereby more intuitively displaying the operation status of the target agricultural machine.

[0166] In addition, the time axis 1210 also includes a moment selection component 1211, and the monitoring device also displays a play pause component 1230 and a play rate setting component 1240. The moment selection component 1211 is used to facilitate the user to select the starting time for displaying the trajectory and working status of the target agricultural machinery; the play pause component 1230 is used to pause the sequential display of the trajectory and working status of the target agricultural machinery; and the play rate setting component 1240 is used to set the rate of displaying the trajectory and working status of the target agricultural machinery.

[0167] The agricultural machinery monitoring method provided by the embodiment of the present invention can facilitate users to view or understand the trajectory and working status of the target agricultural machinery from a certain moment (such as the starting moment), so that users can more clearly and comprehensively understand the working conditions of the target agricultural machinery. Based on this, the monitoring accuracy of the working conditions of the agricultural machinery can be improved.

[0168] It can be seen that the above mainly introduces the solution provided by the embodiment of the present invention from the perspective of the method. In order to achieve the above functions, the embodiment of the present invention provides a hardware structure and / or software module corresponding to each function. It should be easy for those skilled in the art to realize that, in combination with the modules and algorithm steps of each example described in the embodiment disclosed in this article, the embodiment of the present invention can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0169] The agricultural machinery monitoring device provided by the present invention is described below. The agricultural machinery monitoring device described below and the agricultural machinery monitoring method described above can be referenced to each other.

[0170] Fig.13 The structural diagram of the agricultural machinery monitoring device provided by the present invention is as follows: Fig.13 As shown, the agricultural machinery monitoring device comprises:

[0171] An acquisition module 1310 is used to acquire a track viewing instruction, and determine a start time of track display and a target agricultural machine of a track to be displayed based on the track viewing instruction;

[0172] The display module 1320 is used to display the track of the target agricultural machine and the working status of the target agricultural machine in sequence based on the agricultural machine data of the target agricultural machine in chronological order starting from the starting time;

[0173] The agricultural machinery data includes the position information of the target agricultural machinery at at least one moment, and the working status information of the target agricultural machinery at at least one moment, and the agricultural machinery data is used to render the trajectory of the target agricultural machinery.

[0174] It should be noted that Fig.13 The division of modules in the example is schematic and is only a logical function division. There may be other division methods in actual implementation. For example, two or more functions may be integrated into one processing module. The above integrated modules may be implemented in the form of hardware or software function modules.

[0175] Fig.14 A schematic diagram of the physical structure of the electronic device provided by the present invention, such as Fig.14 As shown, the electronic device may include: a processor 1410, a communication interface 1420, a memory 1430 and a communication bus 1440, wherein the processor 1410, the communication interface 1420 and the memory 1430 communicate with each other through the communication bus 1440. The processor 1410 may call the logic instructions in the memory 1430 to execute the agricultural machinery monitoring method described in any of the above embodiments.

[0176] In addition, the logic instructions in the above-mentioned memory 1430 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0177] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the computer program is executed by a processor to execute the agricultural machinery monitoring method provided by the above-mentioned methods.

[0178] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0179] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0180] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for monitoring agricultural machinery, characterized in that: include: Obtaining a track viewing instruction, and determining a start time of track display and a target agricultural machine of which track is to be displayed based on the track viewing instruction; Starting from the starting time, displaying the trajectory of the target agricultural machinery and the working status of the target agricultural machinery in chronological order based on the agricultural machinery data of the target agricultural machinery; The agricultural machinery data includes the location information of the target agricultural machinery at at least one moment, and the working state information of the target agricultural machinery at at least one moment, and the agricultural machinery data is used to render the trajectory of the target agricultural machinery; Before obtaining the track viewing instruction, the method further includes: Acquiring agricultural machinery data of the target agricultural machinery; Based on the agricultural machinery data, an operation video is rendered; the operation video displays the trajectory of the target agricultural machinery and the working status of the target agricultural machinery; The step of sequentially displaying the trajectory of the target agricultural machinery and the working status of the target agricultural machinery based on the agricultural machinery data of the target agricultural machinery in chronological order starting from the starting time includes: Determine a target running video starting from the starting time from the running video; Play the target running video in chronological order starting from the starting time; The agricultural machinery data is determined based on the following steps: Obtaining raw agricultural machinery data; When the original agricultural machinery data meets the preset point-adding condition, the original agricultural machinery data is supplemented to obtain the agricultural machinery data; The preset filling point conditions include: The original agricultural machinery data includes first agricultural machinery data and second agricultural machinery data adjacent in time, and the time difference between the time corresponding to the first agricultural machinery data and the time corresponding to the second agricultural machinery data exceeds a preset first time threshold; The step of supplementing the original agricultural machinery data to obtain the agricultural machinery data includes: Determine a time period of the point to be supplemented based on the time corresponding to the first agricultural machinery data and the time corresponding to the second agricultural machinery data, and determine at least one time of the point to be supplemented from the time period of the point to be supplemented; In the case where the time difference does not exceed a preset second time threshold, linear interpolation is performed based on the position information in the first agricultural machinery data and the position information in the second agricultural machinery data to obtain the position information corresponding to the at least one to-be-filled point at a moment, and the working status information in the first agricultural machinery data is determined as the working status information corresponding to the at least one to-be-filled point at a moment, and the agricultural machinery data is determined based on the position information corresponding to the at least one to-be-filled point at a moment, the working status information corresponding to the at least one to-be-filled point at a moment, and the original agricultural machinery data; In the case where the time difference exceeds a preset second time threshold, the position information in the first agricultural machinery data is determined as the position information corresponding to the at least one to-be-filled point at the time, and the working status information corresponding to the at least one to-be-filled point at the time is set to the information corresponding to the offline state, and the agricultural machinery data is determined based on the position information corresponding to the at least one to-be-filled point at the time, the working status information corresponding to the at least one to-be-filled point at the time, and the original agricultural machinery data; Wherein, the second time threshold is greater than the first time threshold, and the time corresponding to the first agricultural machinery data is before the time corresponding to the second agricultural machinery data; The first time threshold is determined based on a preset time, and the preset time is the interval between the target agricultural machinery sending the location information and the working status information.

2. The agricultural machinery monitoring method according to claim 1, characterized in that: The method further includes: displaying the trajectory of the target agricultural machinery and the working status of the target agricultural machinery in chronological order based on the agricultural machinery data of the target agricultural machinery from the starting time. Acquiring agricultural machinery data required to display a target trajectory starting from the starting time; The step of sequentially displaying the trajectory of the target agricultural machinery and the working status of the target agricultural machinery based on the agricultural machinery data of the target agricultural machinery in chronological order starting from the starting time includes: Starting from the starting moment, the agricultural machinery data of the target agricultural machinery are rendered in sequence in chronological order, and the trajectory of the target agricultural machinery and the working status of the target agricultural machinery obtained by rendering are displayed in sequence.

3. The agricultural machinery monitoring method according to claim 2, characterized in that: The sub-trajectory obtained by any rendering and the working state obtained by any rendering are rendered based on the following steps: Rendering the sub-trajectory based on the position information at any corresponding time; the sub-trajectory is the trajectory of the target agricultural machinery between two adjacent time points; Determine a trajectory display style corresponding to the sub-trajectory based on the working status information at any corresponding moment; The sub-trajectory is rendered based on the trajectory display style.

4. The agricultural machinery monitoring method according to claim 1, characterized in that: The instruction for obtaining the track view includes: Acquire a trajectory viewing instruction triggered by a displayed timeline; the timeline includes a plurality of time blocks, and the block style of the time block is used to characterize the working state of the target agricultural machinery within the time period corresponding to the time block.

5. The agricultural machinery monitoring method according to claim 1, characterized in that: The method of sequentially displaying the trajectory of the target agricultural machine and the working status of the target agricultural machine based on the agricultural machine data of the target agricultural machine in chronological order from the starting time, further includes: Based on the position information of the at least one moment, determining a plurality of rendering positions of the target agricultural machinery on the trajectory of the target agricultural machinery and a running direction of the target agricultural machinery at each of the rendering positions; Starting from the starting moment, in chronological order, based on each of the rendering positions and each of the running directions, the agricultural machinery icons corresponding to the target agricultural machinery are rendered onto the trajectory of the target agricultural machinery in sequence.

6. An agricultural machinery monitoring device, characterized in that: include: An acquisition module, used for acquiring a track viewing instruction, and determining a start time of track display and a target agricultural machine of a track to be displayed based on the track viewing instruction; A display module, configured to display the track of the target agricultural machinery and the working status of the target agricultural machinery in sequence based on the agricultural machinery data of the target agricultural machinery starting from the starting time in chronological order; The agricultural machinery data includes the location information of the target agricultural machinery at at least one moment, and the working state information of the target agricultural machinery at at least one moment, and the agricultural machinery data is used to render the trajectory of the target agricultural machinery; The device also includes: A data acquisition module, used to acquire agricultural machinery data of the target agricultural machinery; A video rendering module, used for rendering an operation video based on the agricultural machinery data; the operation video displays the trajectory of the target agricultural machinery and the working status of the target agricultural machinery; The display module is also used for: Determine a target running video starting from the starting time from the running video; Play the target running video in chronological order starting from the starting time; The data acquisition module is also used for: Obtaining raw agricultural machinery data; When the original agricultural machinery data meets the preset point-adding condition, the original agricultural machinery data is supplemented to obtain the agricultural machinery data; The preset filling point conditions include: The original agricultural machinery data includes first agricultural machinery data and second agricultural machinery data adjacent in time, and the time difference between the time corresponding to the first agricultural machinery data and the time corresponding to the second agricultural machinery data exceeds a preset first time threshold; The step of supplementing the original agricultural machinery data to obtain the agricultural machinery data includes: Determine a time period of the point to be supplemented based on the time corresponding to the first agricultural machinery data and the time corresponding to the second agricultural machinery data, and determine at least one time of the point to be supplemented from the time period of the point to be supplemented; In the case where the time difference does not exceed a preset second time threshold, linear interpolation is performed based on the position information in the first agricultural machinery data and the position information in the second agricultural machinery data to obtain the position information corresponding to the at least one to-be-filled point at a moment, and the working status information in the first agricultural machinery data is determined as the working status information corresponding to the at least one to-be-filled point at a moment, and the agricultural machinery data is determined based on the position information corresponding to the at least one to-be-filled point at a moment, the working status information corresponding to the at least one to-be-filled point at a moment, and the original agricultural machinery data; In the case where the time difference exceeds a preset second time threshold, the position information in the first agricultural machinery data is determined as the position information corresponding to the at least one to-be-filled point at the time, and the working status information corresponding to the at least one to-be-filled point at the time is set to the information corresponding to the offline state, and the agricultural machinery data is determined based on the position information corresponding to the at least one to-be-filled point at the time, the working status information corresponding to the at least one to-be-filled point at the time, and the original agricultural machinery data; Wherein, the second time threshold is greater than the first time threshold, and the time corresponding to the first agricultural machinery data is before the time corresponding to the second agricultural machinery data; The first time threshold is determined based on a preset time, and the preset time is the interval between the target agricultural machinery sending the location information and the working status information.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the agricultural machinery monitoring method as described in any one of claims 1 to 5 is implemented.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the agricultural machinery monitoring method according to any one of claims 1 to 5 is implemented.

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