A method for preventing loss of a Tbox and related device

Abstract

The application discloses a Tbox loss prevention method and related equipment, which is applied to a Tbox device integrated with a six-axis acceleration sensor, and comprises the following steps: acquiring the mounting mode of the Tbox device on an agricultural machine and the sensor coordinate system of the six-axis acceleration sensor; selecting a detection axis from the sensor coordinate system based on the mounting mode; obtaining the angle change value of the detection axis by using the axial acceleration information transmitted by the six-axis acceleration sensor; and issuing an alarm message when the angle change value meets a preset drop condition. The application can determine the angle change value of the detection axis from the sensor coordinate system of the six-axis acceleration sensor integrated on the Tbox, and can timely issue an alarm message when it is determined that the angle change value meets the preset drop condition, thereby saving the maintenance time, shortening the time that the agricultural machine is affected, and improving the operation efficiency of the agricultural machine.

Description

Technical Field

[0001] This application relates to the field of vehicle terminal technology, and in particular to a method and related equipment for preventing the loss of a Tbox. Background Technology

[0002] With the rapid development of automation and intelligence, various tractors and harvesters are also transforming into high-end intelligent equipment. Currently, almost all high-end and low-end tractors and harvesters are equipped with Tbox controllers. The Tbox controller occupies an intermediate link in the entire intelligent chain of tractors and harvesters. As the level of intelligence in agricultural machinery increases, the functions of the Tbox will become increasingly rich, and its role will become increasingly important.

[0003] However, agricultural machinery mostly operates in fields or mountainous areas with bumpy roads. It typically operates continuously, sometimes for over ten hours a day, and even for two to three months during peak farming seasons. In such conditions, the Tbox may fall off the vehicle or be lost in the fields. If it cannot be found and recovered in time, it will affect the efficiency of the machinery and cause losses. Summary of the Invention

[0004] To address the aforementioned issues, embodiments of this application provide a method, system, device, and electronic device for preventing the loss of a Tbox, as well as a computer-readable storage medium and a computer program product.

[0005] Firstly, in order to solve the above-mentioned technical problems, this application provides a method for preventing the loss of a Tbox, applied to a Tbox device integrating a six-axis accelerometer sensor, the method comprising:

[0006] Obtain the installation method of the Tbox device on agricultural machinery, and the sensor coordinate system of the six-axis accelerometer;

[0007] The detection axis is selected from the sensor coordinate system based on the installation method described above;

[0008] The axial acceleration information transmitted by the six-axis accelerometer is used to obtain the angular change value of the detection axis;

[0009] When the angle change value meets the preset falling conditions, an alarm message is issued.

[0010] The beneficial effects are:

[0011] In the technical solution provided in the embodiments of this application, the detection axis is determined from the sensor coordinate system of the six-axis accelerometer integrated on the Tbox device based on the installation method of the Tbox device. The angle change value of the detection axis is monitored to determine whether it meets the preset drop conditions. When the angle change value meets the preset drop conditions, an alarm message is issued. In this way, relevant personnel can handle the fallen Tbox device immediately upon receiving the alarm message, saving maintenance time, thereby shortening the time agricultural machinery is affected, improving the operating efficiency of agricultural machinery, and thus reducing economic losses.

[0012] Secondly, the present invention provides a Tbox device that applies the aforementioned method for preventing the Tbox from being lost; the device includes a Tbox, a six-axis accelerometer, and a communication module;

[0013] The Tbox communicates with the six-axis accelerometer via an I2C connection to obtain the installation method of the Tbox on the agricultural machinery and the sensor coordinate system of the six-axis accelerometer; the detection axis is selected from the sensor coordinate system based on the installation method; and the angular change value of the detection axis is obtained using the axial acceleration information transmitted by the six-axis accelerometer.

[0014] The Tbox is connected to the communication module and is used to send an alarm message through the communication module when the angle change value meets the preset falling conditions.

[0015] Thirdly, the present invention provides agricultural machinery, including the aforementioned Tbox device.

[0016] Fourthly, the present invention provides a Tbox anti-loss system, including an acquisition unit, a selection unit, a detection unit, and an alarm unit;

[0017] The acquisition unit is used to acquire the installation method of the Tbox device on agricultural machinery and the sensor coordinate system of the six-axis accelerometer.

[0018] The selection unit is used to select the detection axis from the sensor coordinate system based on the installation method;

[0019] The detection unit is used to obtain the angle change value of the detection axis using the axial acceleration information transmitted by the six-axis accelerometer.

[0020] An alarm unit is used to issue an alarm message when the angle change value meets the preset falling conditions.

[0021] Fifthly, this application also provides an electronic device, including: one or more processors; and a storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the aforementioned method for preventing the Tbox from being lost.

[0022] Sixthly, this application also provides a computer-readable storage medium having computer-readable instructions stored thereon, which, when executed by a computer's processor, cause the computer to perform the Tbox anti-loss method as described above.

[0023] Seventhly, this application also provides a computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the Tbox anti-loss method provided in the various alternative embodiments described above.

[0024] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0025] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0026] Figure 1 This is a flowchart illustrating an exemplary embodiment of the method for preventing the Tbox from being lost, as shown in this application.

[0027] Figure 2 yes Figure 1 A flowchart of step S102 in an exemplary embodiment of the shown embodiment;

[0028] Figure 3 yes Figure 1 A flowchart of step S103 in an exemplary embodiment shown in the illustrated embodiment;

[0029] Figure 4 yes Figure 1 A flowchart of step S104 in an exemplary embodiment of the shown embodiment;

[0030] Figure 5 This is a flowchart illustrating a method for preventing the Tbox from being lost, as shown in an exemplary embodiment of this application.

[0031] Figure 6 This is a schematic diagram of a Tbox device applying the anti-loss method of the Tbox provided in this application in an exemplary embodiment;

[0032] Figure 7 This is a block diagram illustrating an exemplary embodiment of the present application of a Tbox anti-loss system;

[0033] Figure 8 This is a schematic diagram of the structure of a computer system suitable for implementing the electronic devices of the present application embodiments. Detailed Implementation

[0034] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0035] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0036] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0037] In this application, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0038] To address the problem of Tboxes falling off during agricultural machinery operation and failing to be retrieved in a timely manner, thereby affecting the operational efficiency of agricultural machinery and causing economic losses, embodiments of this application propose a method, system, Tbox device, electronic device, and computer-readable storage medium for preventing Tbox loss. This primarily relates to Tbox anti-loss technology included in vehicle-mounted terminal technology, and these embodiments will be described in detail below.

[0039] Please refer to the following first. Figure 1 , Figure 1 This is a flowchart illustrating an exemplary embodiment of a method for preventing the loss of a Tbox, as shown in this application. The method is applied to a Tbox device integrated with a six-axis accelerometer and is implemented by the Tbox device.

[0040] like Figure 1 As shown, in an exemplary embodiment, the method for preventing the Tbox from being lost may include steps S101 to S104, which are described in detail below:

[0041] Step S101: Obtain the installation method of the Tbox device on agricultural machinery and the sensor coordinate system of the six-axis accelerometer.

[0042] In this embodiment, the installation method of the Tbox device on the agricultural machinery represents the relative position of the Tbox device and the agricultural machinery. Here, Tbox refers to a box on the vehicle, specifically a Telematics Box, a remote communication terminal, a product integrating vehicle network and wireless communication functions.

[0043] In addition, the six-axis angular velocity sensor integrated on the Tbox device includes a three-axis accelerometer and a three-axis gyroscope sensor. The three axes refer to the X, Y, and Z axes in the spatial coordinate system. In this embodiment, the spatial coordinate system of the six-axis accelerometer chip itself is used as the sensor coordinate system for data processing.

[0044] Step S102: Select the detection axis from the sensor coordinate system based on the installation method.

[0045] A six-axis accelerometer is integrated into the Tbox device. When the Tbox device falls, at least one axis in the coordinate system of the six-axis accelerometer will undergo a drastic change due to the positional change of the Tbox device during the fall. Therefore, in this embodiment, based on the installation method of the Tbox device on agricultural machinery, a detection axis is selected from the sensor coordinate system, and this detection axis is used as the monitoring object. The change data of the detection axis is used to determine whether the Tbox device has fallen.

[0046] Step S103: Obtain the angle change value of the detection axis using the axial acceleration information transmitted by the six-axis accelerometer.

[0047] Step S104: When the angle change value meets the preset falling conditions, an alarm message is issued.

[0048] The axial acceleration information transmitted by the six-axis accelerometer can include acceleration information of the X, Y, and Z axes. The acceleration information of the detection axis is selected from these, and the attitude angle of the detection axis can be obtained through data fusion. This allows the determination of the angle change value of the detection axis, and an alarm message is issued when the angle change value meets the preset drop conditions.

[0049] The alarm message can be sent directly to the vehicle network terminal of the corresponding agricultural machinery operator, or it can be sent to the intermediate data platform, which will then distribute it to the vehicle network terminal of the corresponding agricultural machinery operator to notify the operator to stop and check the installation of the Tbox. If it falls into the farmland, the operator will retrieve it in time and fix it in place.

[0050] As can be seen from the above, in the method provided in this embodiment, a six-axis accelerometer is integrated on the Tbox, and the detection axis is determined from the sensor coordinate system of the six-axis accelerometer based on the installation method of the Tbox device. The angle change value of the detection axis is monitored to determine whether it meets the preset drop conditions. When the angle change value meets the preset drop conditions, an alarm message is issued. In this way, relevant personnel can handle the fallen Tbox device immediately upon receiving the alarm message, saving maintenance time, thereby shortening the time agricultural machinery is affected, improving the operating efficiency of agricultural machinery, and reducing economic losses.

[0051] Please see Figure 2 , Figure 2 yes Figure 1 The flowchart of step S102 in the illustrated embodiment is shown in an exemplary embodiment. Figure 2 As shown, step S102 may specifically include steps S201 to S203, which are described in detail below:

[0052] Step S201: Obtain the installation location information of the Tbox device based on the installation method.

[0053] Step S202: Obtain the horizontal direction of the Tbox device based on the installation location information.

[0054] Step S203: Select the target coordinate axis that matches the horizontal direction from the sensor coordinate system, and use the target coordinate axis as the detection axis.

[0055] In this embodiment, the installation position information of the Tbox device obtained based on the installation method may include horizontal installation and vertical installation. If it is horizontally installed, the horizontal direction of the Tbox device matches the x-axis in the sensor coordinate system, that is, the x-axis is determined to be the detection axis. If it is vertically installed, the horizontal direction needs to be further confirmed. If the horizontal direction is the x-axis, the detection axis is the x-axis. If the horizontal direction is along the y-axis, the detection axis is the y-axis.

[0056] In addition, before determining the detection axis, it is necessary to initialize the various functional modules of the Tbox device and the angular velocities of the x, y, and z axes of the six-axis accelerometer to ensure the accuracy of the application data.

[0057] Please see Figure 3 , Figure 3 yes Figure 1 The flowchart of step S103 in the illustrated embodiment is shown in an exemplary embodiment. Figure 3 As shown, step S103 may specifically include steps S301 to S302, which are described in detail below:

[0058] Step S301: Obtain the axial acceleration information transmitted by the six-axis accelerometer, and obtain the real-time angle of the detection axis based on the target direction acceleration information corresponding to the detection axis in the axial acceleration information.

[0059] The six-axis accelerometer uses the calculation principle of a three-axis gyroscope to directly measure the angular velocity of each axis. In this embodiment, the angular velocity is integrated to calculate the tilt angle of each axis, thereby obtaining the real-time angle of the detection axis.

[0060] Step S302: Obtain the initial angle of the detection axis corresponding to the installation method, and obtain the angle change value of the detection axis based on the initial angle and the real-time angle.

[0061] Obtain the initial angle of the detection axis corresponding to the installation method, and calculate the angle change value formed during the process of the detection axis changing from the initial axis to the real-time angle.

[0062] Please see Figure 4 , Figure 4 yes Figure 1 The flowchart of step S104 in the illustrated embodiment is shown in an exemplary embodiment. Figure 4 As shown, step S104 may specifically include steps S401 to S402, which are described in detail below:

[0063] Step S401: Obtain the relationship between the angle change value and the preset angle threshold.

[0064] Step S402: When the change in angle representing the size relationship is greater than the preset angle threshold, the change in angle meets the preset falling condition, and an alarm message for the Tbox device falling is issued.

[0065] While acquiring the angle change value in real time, the relationship between the angle change value and the preset angle threshold is also acquired. This relationship can indicate that the angle change value is less than or equal to the preset angle threshold, or it can indicate that the angle change value is greater than the preset angle threshold. When the angle change value is greater than the preset angle threshold, the angle change value meets the preset falling condition.

[0066] For example, the preset angle threshold can be 90 degrees, and the detection axis is the x-axis. When the detected angle change value of the x-axis exceeds 90 degrees, it is determined that a large angle offset has occurred on the x-axis of the Tbox device, which is far greater than the offset that may occur during normal operation. In other words, it is determined that the Tbox device meets the preset drop conditions, and then an alarm message for the Tbox device to fall is issued.

[0067] Please see Figure 5 , Figure 5 This is a flowchart illustrating a method for preventing the Tbox from being lost, as shown in an exemplary embodiment of this application. The method may include the following steps:

[0068] Step S501: Initialize the Tbox device integrated with a six-axis accelerometer;

[0069] Step S502: Select the detection axis from the sensor coordinate system of the six-axis accelerometer based on the installation method;

[0070] Step S503: Obtain the angle change value of the detection axis;

[0071] Step S504: Determine whether the angle change value is greater than the preset angle threshold. If yes, proceed to step S505; otherwise, proceed to step S506.

[0072] Step S505: If the angle change value meets the preset falling conditions, an alarm message is issued.

[0073] Step S506: The angle change value does not meet the preset falling conditions.

[0074] Please see Figure 6 , Figure 6 This is a schematic diagram of a Tbox device applying the anti-loss method for the Tbox provided in this application in an exemplary embodiment. Figure 6 As shown, the Tbox device 600 includes a Tbox 601, a six-axis accelerometer 602, and a communication module 603. Furthermore, in the embodiments provided in this application, the six-axis accelerometer 602 uses an MPU6050 chip, and the communication module 603 can be a 4G communication module.

[0075] Tbox 601 communicates with six-axis accelerometer 602 via I2C connection to obtain the installation method of Tbox 600 on agricultural machinery and the sensor coordinate system of six-axis accelerometer 602; selects the detection axis from the sensor coordinate system based on the installation method; and obtains the angle change value of the detection axis using the axial acceleration information transmitted by six-axis accelerometer 602.

[0076] Tbox 601 is connected to communication module 603, which sends an alarm message when the angle change value meets the preset drop conditions. When Tbox 601 detects that it has fallen from the vehicle according to the preset drop conditions, it will send an alarm message to the data platform or the corresponding vehicle network terminal of the agricultural machinery operator through communication module 603 to notify the agricultural machinery operator to stop and check the installation status of Tbox device 600. If it falls into the farmland, the operator will retrieve it in time and fix Tbox device 600 in place.

[0077] In an exemplary embodiment of this application, Figure 6 The Tbox device shown is installed in agricultural machinery. During the operation of agricultural machinery, the Tbox device monitors its installation status in real time. If any abnormality occurs, such as falling off, it will promptly send alarm messages and other abnormal information to the agricultural machinery operator. The agricultural machinery operator can retrieve and secure the Tbox device immediately and continue the operation, saving maintenance time, improving work efficiency, and reducing economic losses for agricultural machinery companies and farmers.

[0078] Figure 7 This is a block diagram illustrating an exemplary embodiment of the present application of a T-box anti-loss system 700. (See diagram for details.) Figure 7 As shown, the system includes:

[0079] The acquisition unit 701 is used to acquire the installation method of the Tbox device on agricultural machinery and the sensor coordinate system of the six-axis accelerometer.

[0080] Selection unit 702 is used to select the detection axis from the sensor coordinate system based on the installation method;

[0081] The detection unit 703 is used to obtain the angle change value of the detection axis using the axial acceleration information transmitted by the six-axis accelerometer.

[0082] The alarm unit 704 is used to issue an alarm message when the angle change value meets the preset falling conditions.

[0083] This system applies the Tbox anti-loss method provided in this application. The selection unit 702 determines the detection axis from the sensor coordinate system of the six-axis accelerometer based on the installation method of the Tbox device. The detection unit 703 and alarm unit 704 monitor the angle change value of the detection axis to determine whether it meets the preset drop conditions. When the angle change value meets the preset drop conditions, an alarm message is issued. In this way, relevant personnel can handle the fallen Tbox device immediately upon receiving the alarm message, saving maintenance time, thereby shortening the time agricultural machinery is affected, improving the operating efficiency of agricultural machinery, and reducing economic losses.

[0084] In another exemplary embodiment, the selection unit 702 is further configured to obtain the installation position information of the Tbox device based on the installation method; obtain the horizontal direction of the Tbox device based on the installation position information; select a target coordinate axis that matches the horizontal direction from the sensor coordinate system, and use the target coordinate axis as the detection axis.

[0085] In another exemplary embodiment, the detection unit 703 is further configured to acquire axial acceleration information transmitted by the six-axis accelerometer, obtain the real-time angle of the detection axis based on the target direction acceleration information corresponding to the detection axis in the axial acceleration information; acquire the initial angle of the detection axis corresponding to the installation method, and obtain the angle change value of the detection axis based on the initial angle and the real-time angle.

[0086] In another exemplary embodiment, the alarm unit 704 is further configured to obtain the magnitude relationship between the angle change value and the preset angle threshold; when the magnitude relationship indicates that the angle change value is greater than the preset angle threshold, the angle change value satisfies the preset drop condition, and an alarm message for the Tbox device to fall is issued.

[0087] It should be noted that the Tbox anti-loss system and the Tbox anti-loss method provided in the above embodiments belong to the same concept. The specific operation methods of each module and unit have been described in detail in the method embodiments and will not be repeated here. In practical applications, the Tbox anti-loss system provided in the above embodiments can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. This is not a limitation here.

[0088] Embodiments of this application also provide an electronic device, including: one or more processors; and a storage device for storing one or more programs, which, when executed by one or more processors, cause the electronic device to implement the Tbox anti-loss method provided in the above embodiments.

[0089] Figure 8A schematic diagram of a computer system suitable for implementing the embodiments of this application is shown. It should be noted that... Figure 8 The computer system 800 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0090] like Figure 8 As shown, the computer system 800 includes a Central Processing Unit (CPU) 801, which can perform various appropriate actions and processes, such as executing the methods described in the above embodiments, based on programs stored in Read-Only Memory (ROM) 802 or programs loaded from storage portion 808 into Random Access Memory (RAM) 803. The RAM 803 also stores various programs and data required for system operation. The CPU 801, ROM 802, and RAM 803 are interconnected via a bus 804. An Input / Output (I / O) interface 805 is also connected to the bus 804.

[0091] The following components are connected to I / O interface 805: an input section 806 including a keyboard, mouse, etc.; an output section 807 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 808 including a hard disk, etc.; and a communication section 809 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 809 performs communication processing via a network such as the Internet. A drive 810 is also connected to I / O interface 805 as needed. A removable medium 811, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 810 as needed so that computer programs read from it can be installed into storage section 808 as needed.

[0092] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including a computer program for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 809, and / or installed from removable medium 811. When the computer program is executed by central processing unit (CPU) 801, it performs various functions defined in the system of this application.

[0093] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0094] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. Each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0095] The units described in the embodiments of this application can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0096] Another aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the aforementioned method for preventing the Tbox from being lost. This computer-readable storage medium may be included in the electronic device described in the above embodiments, or it may exist independently and not incorporated into the electronic device.

[0097] Another aspect of this application provides a computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the Tbox anti-loss method provided in the various embodiments described above.

[0098] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for preventing the loss of a T-box, characterized in that, Applied to a Tbox device integrating a six-axis accelerometer; the method includes: Obtain the installation method of the Tbox device on agricultural machinery, and the sensor coordinate system of the six-axis accelerometer; The detection axis is selected from the sensor coordinate system based on the installation method described above; The axial acceleration information transmitted by the six-axis accelerometer is used to obtain the angular change value of the detection axis; When the angle change value meets the preset falling conditions, an alarm message is issued; Selecting the detection axis from the sensor coordinate system based on the installation method includes: The installation location information of the Tbox device is obtained based on the installation method described above; The horizontal direction of the Tbox device is obtained based on the installation location information; Select a target coordinate axis that matches the horizontal direction from the sensor coordinate system, and use the target coordinate axis as the detection axis; The installation position information of the Tbox device obtained based on the installation method includes horizontal installation and vertical installation. If it is horizontally installed, the horizontal direction of the Tbox device matches the x-axis in the sensor coordinate system, that is, the x-axis is determined to be the detection axis. If it is vertically installed, the horizontal direction is further confirmed. If the horizontal direction is the x-axis, then the detection axis is the x-axis. If the horizontal direction is along the y-axis, then the detection axis is the y-axis.

2. The method according to claim 1, characterized in that, The step of obtaining the angle change value of the detection axis using the axial acceleration information transmitted by the six-axis accelerometer includes: The axial acceleration information transmitted by the six-axis accelerometer is obtained, and the real-time angle of the detection axis is obtained based on the target direction acceleration information corresponding to the detection axis in the axial acceleration information. Obtain the initial angle of the detection axis corresponding to the installation method, and obtain the angle change value of the detection axis based on the initial angle and the real-time angle.

3. The method according to claim 1, characterized in that, When the angle change value meets the preset falling conditions, an alarm message is issued, including: Obtain the relationship between the angle change value and the preset angle threshold; When the angle change value, which represents the size relationship, is greater than the preset angle threshold, the angle change value satisfies the preset drop condition, and an alarm message is issued for the Tbox device to fall.

4. A Tbox device, characterized in that, The method for preventing the loss of a Tbox according to any one of claims 1 to 3; the device includes a Tbox, a six-axis accelerometer, and a communication module; The Tbox communicates with the six-axis accelerometer via an I2C connection to obtain the installation method of the Tbox on the agricultural machinery and the sensor coordinate system of the six-axis accelerometer; the detection axis is selected from the sensor coordinate system based on the installation method; and the angular change value of the detection axis is obtained using the axial acceleration information transmitted by the six-axis accelerometer. The Tbox is connected to the communication module and is used to send an alarm message through the communication module when the angle change value meets the preset falling conditions; Selecting the detection axis from the sensor coordinate system based on the installation method includes: The installation location information of the Tbox device is obtained based on the installation method described above; The horizontal direction of the Tbox device is obtained based on the installation location information; Select a target coordinate axis that matches the horizontal direction from the sensor coordinate system, and use the target coordinate axis as the detection axis; The installation position information of the Tbox device obtained based on the installation method includes horizontal installation and vertical installation. If it is horizontally installed, the horizontal direction of the Tbox device matches the x-axis in the sensor coordinate system, that is, the x-axis is determined to be the detection axis. If it is vertically installed, the horizontal direction is further confirmed. If the horizontal direction is the x-axis, then the detection axis is the x-axis. If the horizontal direction is along the y-axis, then the detection axis is the y-axis.

5. The apparatus according to claim 4, characterized in that, The six-axis accelerometer uses the MPU6050 chip.

6. An agricultural machine, characterized in that, Includes the Tbox device as described in any one of claims 4 or 5.

7. A T-box anti-loss system, characterized in that, include: The acquisition unit is used to acquire the installation method of the Tbox device on agricultural machinery and the sensor coordinate system of the six-axis accelerometer; wherein, the Tbox device includes a Tbox, a six-axis accelerometer and a communication module; The selection unit is used to select the detection axis from the sensor coordinate system based on the installation method; The detection unit is used to obtain the angle change value of the detection axis using the axial acceleration information transmitted by the six-axis accelerometer. An alarm unit is used to issue an alarm message when the angle change value meets the preset falling conditions; The selection unit is also used to obtain the installation position information of the Tbox device based on the installation method; obtain the horizontal direction of the Tbox device based on the installation position information; select the target coordinate axis that matches the horizontal direction from the sensor coordinate system, and use the target coordinate axis as the detection axis; The installation position information of the Tbox device obtained based on the installation method includes horizontal installation and vertical installation. If it is horizontally installed, the horizontal direction of the Tbox device matches the x-axis in the sensor coordinate system, that is, the x-axis is determined to be the detection axis. If it is vertically installed, the horizontal direction is further confirmed. If the horizontal direction is the x-axis, then the detection axis is the x-axis. If the horizontal direction is along the y-axis, then the detection axis is the y-axis.

8. An electronic device, characterized in that, include: One or more processors; A storage device for storing one or more programs, which, when executed by one or more processors, cause the electronic device to implement the anti-loss method for the Tbox as described in any one of claims 1 to 3.

9. A computer-readable storage medium, characterized in that, It stores computer-readable instructions that, when executed by the computer's processor, cause the computer to perform the anti-loss method for the Tbox as described in any one of claims 1 to 3.

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