Method, device and monitoring system for calculating the working area of side-by-side working agricultural machines

Abstract

The application provides a calculation method, device and monitoring system for working area of side-by-side working agricultural machines, and relates to the field of agriculture. The calculation method for working area of side-by-side working agricultural machines comprises the following steps: confirming side-by-side working of multiple agricultural machines according to multiple working map patches of the multiple agricultural machines; generating multiple geographic blocks for each working map patch in the multiple working map patches; removing repeated geographic blocks in all geographic blocks of the multiple working map patches to obtain multiple effective geographic blocks; and calculating working area of each agricultural machine in the multiple agricultural machines according to the multiple effective geographic blocks and each working map patch. According to the technical scheme, multiple geographic blocks are generated according to multiple working map patches of side-by-side working multiple agricultural machines, and the effective geographic blocks after removal of repeated geographic blocks can represent the total working area of actual working side-by-side agricultural machines. The effective working area of each agricultural machine is calculated according to the distribution of working map patches and effective geographic blocks, and the method has high accuracy.

Description

Technical Field

[0001] This application relates to the agricultural field, and more specifically, to a method, apparatus, and monitoring system for calculating the operating area of ​​parallel-operating agricultural machinery. Background Technology

[0002] In agricultural operations, parallel operation of agricultural machinery is a highly efficient method of agricultural mechanization. It involves placing two or more agricultural machines side-by-side on the same plot of land, allowing them to work simultaneously to improve agricultural production efficiency and yield. This method is commonly used for agricultural activities such as tilling, sowing, fertilizing, spraying pesticides, and harvesting. Parallel operation can shorten operation time, reduce idle time and repetitive work, thereby lowering production costs.

[0003] However, in scenarios where agricultural machinery operates side-by-side, the working areas of multiple machines often overlap significantly. This leads to the same farmland being counted multiple times when calculating the effective working area, resulting in inaccurate calculations of the actual working area for each machine. In some projects, farmers receive support based on the effective working area of ​​each machine. Inaccurate calculations of the effective working area can negatively impact these projects. Therefore, providing a method for accurately calculating the effective working area of ​​each machine in side-by-side operation scenarios is a pressing technical problem that needs to be solved. Summary of the Invention

[0004] This application provides a method, device, and monitoring system for calculating the working area of ​​parallel-operating agricultural machinery, which has high accuracy in calculating the effective working area of ​​parallel-operating agricultural machinery.

[0005] In a first aspect, a method for calculating the operating area of ​​agricultural machinery operating side-by-side is provided, comprising: acquiring multiple operating patches of multiple agricultural machinery; confirming that multiple agricultural machinery are operating side-by-side based on the shape of the multiple operating patches; generating multiple geographic plots for each operating patch in the multiple operating patches; removing duplicate geographic plots from all geographic plots of the multiple operating patches to obtain multiple valid geographic plots; and calculating the operating area of ​​each agricultural machinery in the multiple agricultural machinery based on the multiple valid geographic plots and each operating patch.

[0006] The technical solution of this application embodiment generates multiple geographic plots based on multiple operational map patches of the multiple agricultural machines when they are operating side-by-side. Duplicate geographic plots corresponding to overlapping areas of the multiple operational map patches are then removed from these multiple geographic plots, thereby eliminating the impact of overlapping areas on the calculation of the actual operating area of ​​the agricultural machines. The effective geographic plots after removing duplicate geographic plots can represent the total operating area of ​​the multiple parallel agricultural machines. Calculating the operating area of ​​each agricultural machine based on the distribution of operational map patches and effective geographic plots can achieve high accuracy.

[0007] In some possible implementations, the above-mentioned calculation of the operating area of ​​each agricultural machine among multiple agricultural machines based on multiple valid geographical plots and each operating map patch includes: determining the travel trajectory of each agricultural machine based on each operating map patch; determining, based on the travel trajectory of each agricultural machine, that there is at least one agricultural machine's travel trajectory in each of the multiple valid geographical plots; allocating the area of ​​each valid geographical plot to multiple agricultural machines based on the determination result; and calculating the operating area of ​​each agricultural machine based on the allocation result.

[0008] The technical solution of this implementation method allocates the area of ​​each effective geographical plot according to the driving trajectory of the agricultural machinery. This not only makes the allocation results and the calculation results of the actual working area of ​​the agricultural machinery highly accurate, but also facilitates actual operation and use.

[0009] In some possible implementations, the multiple effective geographic plots include: target effective geographic plots; wherein, the above-mentioned determination that at least one agricultural machine's trajectory exists in each of the multiple effective geographic plots based on the trajectory of each agricultural machine includes: determining that at least one target agricultural machine's trajectory exists in the target effective geographic plot based on the trajectory of each agricultural machine; the above-mentioned allocation of the area of ​​each effective geographic plot to multiple agricultural machines based on the determination result includes: when there are multiple target agricultural machines, the area of ​​the target effective geographic plot is evenly allocated to the multiple target agricultural machines; or, when there is only one target agricultural machine, the entire area of ​​the target effective geographic plot is allocated to one target agricultural machine.

[0010] In some possible implementations, multiple agricultural machines are equipped with GPS systems; wherein, the above-mentioned generation of multiple geographic plots for each of the multiple operational plots includes: receiving latitude and longitude information sent by each of the multiple agricultural machines; and generating multiple geographic plots for each operational plot based on the latitude and longitude information.

[0011] In some possible implementations, the above-mentioned generation of multiple geographic parcels for each of the multiple operational parcels includes: generating multiple Geohash parcels for each operational parcel.

[0012] Using Geohash plots to represent the geographic plots of the operation area not only makes it easier to adjust the size of the geographic plots to meet different requirements, but also facilitates querying, storage and processing, which is beneficial for the calculation and use of subsequent agricultural machinery operation areas.

[0013] In some possible implementations, the area of ​​a geographic parcel is related to the area of ​​each operational patch.

[0014] The technical solution of this implementation method can take into account both the speed and accuracy of the allocation of geographical plot area, thereby taking into account the speed and accuracy of subsequent agricultural machinery operation area calculation.

[0015] In some possible implementations, the above-mentioned method of confirming that multiple agricultural machines are operating side by side based on the shapes of multiple work patches includes: determining the similarity of the shapes of multiple work patches; and confirming that multiple agricultural machines are operating side by side based on the similarity.

[0016] The technical solution of this implementation method can be used to conveniently confirm whether multiple agricultural machines are operating side by side.

[0017] In some possible implementations, multiple agricultural machines are equipped with GPS systems; wherein, the above-mentioned acquisition of multiple operational patches of multiple agricultural machines includes: receiving multiple positioning information sent by each of the multiple agricultural machines; generating the driving trajectory of each agricultural machine based on the multiple positioning information; and generating the operational patch of each agricultural machine according to the driving trajectory and operational width of each agricultural machine.

[0018] Secondly, a device for calculating the operating area of ​​parallel-operating agricultural machinery is provided, comprising: an acquisition unit for acquiring multiple operating patches of multiple agricultural machinery; a processing unit for confirming that multiple agricultural machinery are operating in parallel based on the shape of the multiple operating patches; generating multiple geographic plots for each operating patch in the multiple operating patches; removing duplicate geographic plots from all geographic plots of the multiple operating patches to obtain multiple valid geographic plots; and calculating the operating area of ​​each agricultural machinery in the multiple agricultural machinery based on the multiple valid geographic plots and each operating patch.

[0019] Thirdly, a device for calculating the working area of ​​parallel-operating agricultural machinery is provided, comprising: a processor and a memory, the memory for storing computer programs, and the processor for calling and running the computer programs stored in the memory to execute: the calculation method in the first aspect or any possible implementation of the first aspect.

[0020] Fourthly, a monitoring system is provided, comprising: multiple agricultural machines, and a calculation device for the working area of ​​the parallel-operating agricultural machines provided in the second or third aspect, the calculation device being used to monitor the multiple agricultural machines and calculate the working area of ​​the parallel-operating agricultural machines among the multiple agricultural machines. Attached Figure Description

[0021] Figure 1 This is a schematic architecture diagram of a remote monitoring system for agricultural machinery provided in an embodiment of this application.

[0022] Figure 2 This is a schematic flowchart of a method for calculating the working area of ​​parallel-operating agricultural machinery provided in an embodiment of this application.

[0023] Figure 3This is a schematic diagram of two work patches provided in the embodiments of this application.

[0024] Figure 4 This is a schematic diagram of multiple geographical plots in a work area provided in an embodiment of this application.

[0025] Figure 5 This is a schematic flowchart of another method for calculating the working area of ​​parallel-operating agricultural machinery provided in the embodiments of this application.

[0026] Figure 6 This is a schematic structural block diagram of a device for calculating the working area of ​​parallel-operating agricultural machinery provided in an embodiment of this application.

[0027] Figure 7 This is a schematic structural block diagram of another calculation device for the working area of ​​parallel-operating agricultural machinery provided in the embodiments of this application.

[0028] Figure 8 This is a schematic structural block diagram of a monitoring system for agricultural machinery provided in an embodiment of this application. Detailed Implementation

[0029] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0030] This application relates to the monitoring of agricultural machinery operations, specifically the use of various technologies and methods to track, record, and analyze the performance and data of agricultural machinery during field operations. This monitoring is crucial for improving agricultural machinery operational efficiency, optimizing resource utilization, reducing operating costs, and ensuring crop production quality. In practical implementation, a remote monitoring platform can be used to monitor the operational status of multiple agricultural machines in a farmland environment and acquire operational data. This data can help users optimize operational plans and improve productivity.

[0031] Figure 1 A schematic architecture diagram of a remote monitoring system 100 for agricultural machinery applicable to embodiments of this application is shown.

[0032] like Figure 1 As shown, the remote monitoring system 100 includes a client 110, a remote monitoring platform 120, and agricultural machinery 130. The client 110 may include computer equipment, handheld terminal equipment, and server equipment, etc. For example, computer equipment includes, but is not limited to, desktop computers and laptops, and handheld terminal equipment includes, but is not limited to, mobile phones and smart wearable devices. The client 110 can be operated by user 101 to generate control commands for the agricultural machinery 130. Furthermore, relevant information about the agricultural machinery 130 (e.g., fault information, trajectory information, etc.) can also be presented to user 101 via the remote monitoring platform 120 and the client 110.

[0033] The remote monitoring platform 120 can be, for example, a server (such as a cloud server). The remote monitoring platform 120 can receive relevant requests or commands from various clients 110 and send these requests or commands to the agricultural machinery 130, enabling the agricultural machinery 130 to perform corresponding operations. The remote monitoring platform 120 can also receive relevant information from the agricultural machinery 130 and then feed that information back to the clients 110. The remote monitoring platform 120 can interact with the clients 110 through various wireless communication technologies, such as 4G, 5G, Wi-Fi, and LoRa, etc., which are not specifically limited in this embodiment. Additionally, the agricultural machinery 130 can be configured with a vehicle-mounted network terminal (TBOX), through which the agricultural machinery 130 can communicate with the remote monitoring platform 120. In some examples, the TBOX can also interact with the remote monitoring platform 120 through various wireless communication technologies, such as 4G, 5G, Wi-Fi, and LoRa, which are also not specifically limited in this embodiment.

[0034] Specifically, in this embodiment, the remote monitoring platform 120 can simultaneously monitor multiple agricultural machines 130, and each agricultural machine 130 can communicate with the remote monitoring platform 120. The agricultural machines 130 can be equipped with various sensors, cameras, and positioning systems to detect their operating status. During the monitoring of agricultural machinery operations, the agricultural machines 130 can report data collected by the sensors, cameras, and positioning systems to the remote monitoring platform 120. The remote monitoring platform 120 analyzes and statistically processes the reported data, thereby achieving monitoring of multiple agricultural machines 130.

[0035] In agricultural machinery operation monitoring, after agricultural machinery 130 has been operating for a period of time (e.g., one day, one week), the remote monitoring platform 120 can generate the operation trajectory of agricultural machinery 130 in the field based on the data reported by agricultural machinery 130 during that period, and generate operation plots based on these trajectories. Then, the area of ​​the operation plots is used for statistical calculation and settlement. However, in agricultural machinery operation scenarios, to improve operational efficiency, multiple vehicles may operate side-by-side. In this case, due to various reasons such as changes in the spacing between multiple agricultural machinery 130s, deviations from planned paths, and untimely communication, the operation plots of multiple agricultural machinery 130s may overlap significantly. This results in the same farmland plot being counted multiple times, making the effective operation area calculated directly from the trajectory inaccurate. In some projects, farmers receive support based on the effective operation area of ​​each agricultural machinery. Inaccurate calculation of the effective operation area can negatively impact the project.

[0036] In some solutions, the areas of multiple overlapping plots are accumulated and then weighted and averaged based on the mileage of agricultural machinery operating on those plots to allocate the plot area to multiple machines. However, in this method, the operating trajectories of agricultural machinery may involve repeated travel or circling, making it impossible to directly correlate with the operating area, resulting in inaccurate statistics on the actual operating area of ​​agricultural machinery under this method.

[0037] Therefore, this application provides a method for calculating the working area of ​​agricultural machinery operating side-by-side. When multiple agricultural machines are operating side-by-side, geographical plots are generated based on the working patches of the multiple machines. The working area of ​​each machine is then calculated based on the distribution of the working patches and geographical plots. In this method, the geographical plots generated from the working patches are associated with the working area of ​​the agricultural machinery; therefore, the actual working area of ​​the agricultural machinery calculated using this method has high accuracy.

[0038] Figure 2 This paper presents a schematic flowchart illustrating a method for calculating the working area of ​​parallel-operating agricultural machinery according to an embodiment of this application.

[0039] like Figure 2 As shown, the calculation method 200 for the working area of ​​the parallel-operating agricultural machinery includes the following steps.

[0040] S210: Obtain multiple operational plots from multiple agricultural machines.

[0041] S220: Based on the shape of multiple work patches, confirm that multiple agricultural machines are operating in parallel.

[0042] S230: Generate multiple geographic parcels for each of the multiple job parcels.

[0043] S240: Remove duplicate geographic parcels from all geographic parcels of multiple operation patches to obtain multiple valid geographic parcels.

[0044] S250: Calculate the operating area of ​​each agricultural machine among multiple agricultural machines based on multiple valid geographical plots and each operational map patch.

[0045] Specifically, in this embodiment of the method, the executing entity is a remote monitoring system for agricultural machinery, which can be a server, such as a cloud server. Optionally, the remote monitoring system can be... Figure 1 The remote monitoring platform 120 shown is shown.

[0046] In step S210 above, the remote monitoring system can acquire a work patch generated by each of the multiple agricultural machines after operating within a preset work time period. These multiple agricultural machines can operate in the same field within the same work time period. The work patch acquired by the remote monitoring system is the work patch formed by the agricultural machines operating in the field within that time period. As an example, this time period can be a day, half a day, or a preset time period of other ranges.

[0047] Specifically, agricultural machinery operation patches can represent the morphology of the land where agricultural machinery operates within a given time period. As an example, Figure 3 The diagram shows two work patches, where (a) and (b) show the work patches of two agricultural machines in the same time period.

[0048] In step S220, the remote monitoring system can determine that multiple agricultural machines are operating side-by-side based on multiple operational patches acquired from the multiple agricultural machines. Specifically, the remote monitoring system may be equipped with an image processing unit, which can analyze and process the multiple operational patches to determine that the multiple agricultural machines corresponding to the multiple operational patches are operating side-by-side.

[0049] Optionally, the image processing unit can calculate the similarity of multiple operational patches. If the similarity is greater than or equal to a certain threshold, it can be determined that multiple agricultural machines are operating side by side. Conversely, if the similarity is less than a certain threshold, then the multiple agricultural machines are not operating side by side.

[0050] See Figure 3 The two operation patches shown have a high degree of similarity. Therefore, the image processing unit in the remote monitoring system can determine that the two agricultural machines corresponding to the two operation patches are operating side by side.

[0051] In step S230, the remote monitoring system generates multiple geographic plots for each of the multiple operational patches. In other words, the remote monitoring system can generate geographic plots for each of the multiple operational patches, and each operational patch has multiple geographic plots. Specifically, each geographic plot contains geographic location information, such as latitude and longitude information. For a single operational patch, it can be divided into multiple geographic plots, which can be rectangular plots or plots of other shapes. Each geographic plot includes geographic location information of the local farmland area corresponding to the operational patch.

[0052] As an example and not a limitation, the geographic parcel can be generated using any of the following geospatial coding algorithms: Geohash coding algorithm, S2 Geometry algorithm, H3 geocoding algorithm, and Morton coding algorithm, etc.

[0053] Figure 4A schematic diagram of multiple geographic parcels in a single operational feature area is shown.

[0054] Optionally, within a single operational map patch, multiple geographic parcels may cover the entire or most of the area of ​​that operational map patch. The area of ​​each geographic parcel can be designed based on the overall size of the operational map patch and application requirements. Figure 4 The area of ​​the geographical plots shown is for illustrative purposes only and not as a limitation. In actual applications, the area of ​​the geographical plots can be larger than... Figure 4 The geographical plots shown are either large or small.

[0055] In step S240, after generating all geographic parcels for multiple job patches, the remote monitoring system can remove duplicate geographic parcels from all geographic parcels to obtain multiple valid geographic parcels.

[0056] For example, multiple operational map patches may include a first operational map patch and a second operational map patch. The first operational map patch may contain multiple first geographic parcels, and the second operational map patch may contain multiple second geographic parcels. A remote monitoring platform can remove duplicate geographic parcels from the multiple first and second geographic parcels to obtain multiple valid geographic parcels. Similarly, for three or more operational map patches, duplicate geographic parcels can also be removed to obtain multiple valid geographic parcels from the multiple operational map patches. Duplicate geographic parcels refer to parcels whose geographic areas completely overlap.

[0057] Specifically, since multiple agricultural machines corresponding to multiple work patches operate side-by-side, overlapping areas will exist within these work patches. After generating all geographic plots for all work patches, the overlapping areas can correspond to identical geographic plots. By removing the duplicate geographic plots corresponding to these overlapping areas, the impact of these overlapping areas on the calculation of the actual working area of ​​the agricultural machines can be eliminated. The resulting multiple valid geographic plots can then represent the total working area of ​​the multiple agricultural machines.

[0058] In step S250, the remote monitoring system calculates the operating area of ​​each agricultural machine based on multiple valid geographic plots and each operational patch. Specifically, each operational patch represents the operating area of ​​its corresponding agricultural machine. After obtaining the valid geographic plots of multiple operational patches, the remote monitoring system can further determine which operational patches correspond to each valid geographic plot, thus identifying which agricultural machines have traveled through each valid geographic plot. The system then allocates the valid geographic plot to the traveling agricultural machine, and based on the allocation of all valid geographic plots, determines the actual operating area of ​​each agricultural machine.

[0059] The technical solution of this application embodiment generates multiple geographic plots based on multiple operational patches of the multiple agricultural machines when they are operating side-by-side. Duplicate geographic plots corresponding to overlapping areas of the multiple operational patches are then removed from these multiple geographic plots, thereby eliminating the impact of overlapping areas on the calculation of the actual operational area of ​​the agricultural machines. The effective geographic plots after removing duplicate geographic plots can represent the total operational area of ​​the multiple agricultural machines operating side-by-side. Calculating the operational area of ​​each agricultural machine based on the distribution of operational patches and effective geographic plots can achieve high accuracy. This more accurate operational area can more realistically represent the actual contribution of each agricultural machine to the farmland, making personnel management based on this more reasonable. Furthermore, this more accurate calculated area also helps optimize path planning in subsequent processes, making the subsequent operational paths of the parallel agricultural machines more rational.

[0060] Figure 5 A schematic flowchart of another method 300 for calculating the working area of ​​parallel-operating agricultural machinery provided in an embodiment of this application is shown.

[0061] like Figure 5 As shown, the second method for calculating the working area of ​​the parallel-operating agricultural machinery 300 includes the following steps.

[0062] S310: Receives multiple location information messages sent by each of the multiple agricultural machines.

[0063] S320: Generates the driving trajectory of each agricultural machine based on multiple positioning information.

[0064] S330: Generates operational patches for each agricultural machine based on its travel trajectory and operating width.

[0065] S340: Based on the shape of multiple work patches of multiple agricultural machines, confirm that multiple agricultural machines are operating side by side.

[0066] S350: Generate multiple geographic parcels for each of the multiple job parcels.

[0067] S360: Remove duplicate geographic parcels from all geographic parcels of multiple operation patches to obtain multiple valid geographic parcels.

[0068] S370: Determine the travel trajectory of each agricultural machine based on each work patch.

[0069] S380: Based on the driving trajectory of each agricultural machine, determine that there is at least one agricultural machine driving trajectory in each valid geographical plot.

[0070] S390: Based on the determined results, allocate the area of ​​each valid geographic plot to multiple agricultural machines.

[0071] S3100: Calculate the operating area of ​​each agricultural machine based on the allocation results.

[0072] Optionally, in the embodiments of this application, the above steps S310 to S330 can be as described above. Figure 2 One implementation of step S210 in the illustrated embodiment.

[0073] Optionally, multiple agricultural machines can be equipped with a positioning system, such as the Global Positioning System (GPS), which allows the machines to detect their location information at different times. Specifically, this location information may include time information and position information. The time information represents the moment when the machine generates its location information, and the position information may include the machine's current latitude and longitude, among other location data.

[0074] The remote monitoring system can receive multiple location data points from each agricultural machine at various times, and generate a travel trajectory for each machine based on this data. Then, based on this trajectory and the machine's working width, a work area map can be generated for each machine. The working width refers to the width of land the machine can cover in a single operation, and it depends on the machine's structural design. For example, in the case of a tiller, its working width is the lateral width of the plow.

[0075] Optionally, steps S370 to S3100 above can be as described above. Figure 2 One implementation of step S250 in the illustrated embodiment.

[0076] Specifically, in multiple work patches, each work patch can represent the travel trajectory of the agricultural machinery. In some embodiments, the remote monitoring platform can perform image processing on the work patches to extract the travel trajectory. Alternatively, in other embodiments, as described in step S330 above, the work patch is calculated from the travel trajectory of the agricultural machinery and the work width; therefore, the remote monitoring platform can directly obtain the travel trajectory of the agricultural machinery.

[0077] After acquiring the driving trajectories of multiple agricultural machines, the remote monitoring platform can determine the existence of at least one agricultural machine's driving trajectory in each of the multiple valid geographical plots, and allocate the area of ​​each valid geographical plot based on the determination results.

[0078] As an example, if multiple valid geographic plots include valid geographic plot 1#, and the driving trajectories of agricultural machinery A and agricultural machinery B exist in valid geographic plot 1#, then the area of ​​valid geographic plot 1# can be equally divided between agricultural machinery A and agricultural machinery B.

[0079] As another example, if multiple valid geographic plots include valid geographic plot 2#, and only the driving trajectory of agricultural machinery A exists in valid geographic plot 2#, then the entire area of ​​valid geographic plot 2# is allocated to agricultural machinery A.

[0080] It is understood that the aforementioned valid geographical plots 1# and 2# are any plots among multiple valid geographical plots. If there are three or more agricultural machinery tracks within a valid geographical plot, the area of ​​that valid geographical plot can also be equally distributed among those three or more agricultural machinery tracks.

[0081] Optionally, the aforementioned effective geographical plot 1# or effective geographical plot 2# can be referred to as the target effective geographical plot, and the corresponding agricultural machinery can be referred to as the target agricultural machinery.

[0082] After allocating the area of ​​each effective geographical plot in the above manner, the operating area of ​​each agricultural machine can be obtained. The operating area of ​​each agricultural machine is the sum of the areas of all the effective geographical plots it has been allocated.

[0083] The technical solution of this application allocates the area of ​​each effective geographical plot according to the driving trajectory of the agricultural machinery. This not only makes the allocation result and the calculation result of the actual working area of ​​the agricultural machinery highly accurate, but also facilitates actual operation and use.

[0084] Optionally, in any of the above embodiments, when multiple agricultural machines are equipped with GPS systems, the remote monitoring system can receive latitude and longitude information sent by each of the multiple agricultural machines, and generate multiple geographic plots for each operational patch based on the latitude and longitude information.

[0085] Specifically, as mentioned above, agricultural machinery can report location information to the remote monitoring system. This location information may include latitude and longitude information. In addition to generating a driving trajectory based on the location information to generate a work patch, the remote monitoring system can also determine the latitude and longitude information of each location in the work patch. Based on the latitude and longitude information in the work patch, the remote monitoring platform can generate multiple geographical blocks of the work patch.

[0086] Optionally, in any of the above embodiments, the geographical plot of the operation patch is a Geohash plot, which is a plot area obtained by encoding the latitude and longitude information in the operation patch based on the Geohash encoding algorithm.

[0087] Using Geohash plots to represent the geographic plots of the operation area not only makes it easier to adjust the size of the geographic plots to meet different requirements, but also facilitates querying, storage and processing, which is beneficial for the calculation and use of subsequent agricultural machinery operation areas.

[0088] Optionally, in any of the above embodiments, the area of ​​the geographic plot is related to the area of ​​the operational patch. For example, when the area of ​​the operational patch is large, the area of ​​the geographic plot can also be designed to be large; conversely, when the area of ​​the operational patch is small, the area of ​​the geographic plot can also be designed to be small, thereby balancing the speed and accuracy of geographic plot area allocation.

[0089] The above text combined Figures 2 to 5 The method embodiments provided in this application are described below, in conjunction with... Figure 6 and Figure 7 This application describes the device embodiments provided. It is understood that the device embodiments described below can correspond to the method embodiments described above, and specific solutions can be found in the above description. Repeated parts will not be repeated.

[0090] Figure 6 A schematic structural block diagram of a computing device 400 for calculating the working area of ​​parallel-operating agricultural machinery, provided in an embodiment of this application, is shown. Optionally, the computing device 400 can be the remote monitoring platform described in the preceding method embodiments.

[0091] like Figure 6 As shown, the computing device 400 includes an acquisition unit 410 and a processing unit 420.

[0092] The acquisition unit 410 is used to acquire multiple operation patches of multiple agricultural machines.

[0093] The processing unit 420 is used to confirm that multiple agricultural machines are operating side by side based on the shape of multiple operation patches; generate multiple geographic plots for each operation patch in the multiple operation patches; remove duplicate geographic plots from all geographic plots in the multiple operation patches to obtain multiple valid geographic plots; and calculate the operating area of ​​each agricultural machine in the multiple operation patches based on the multiple valid geographic plots and each operation patch.

[0094] Optionally, the computing device 400 (i.e., the remote monitoring platform) can be a server. The acquisition unit 410 includes a server receiving port and related code programs, and the processing unit 420 includes a server processor and related code programs.

[0095] In some possible implementations, the processing unit 420 is configured to: determine the driving trajectory of each agricultural machine based on each work patch; determine, based on the driving trajectory of each agricultural machine, that there is a driving trajectory of at least one agricultural machine in each of the multiple valid geographical plots; allocate the area of ​​each valid geographical plot to the multiple agricultural machines based on the determination result; and calculate the working area of ​​each agricultural machine based on the allocation result.

[0096] In some possible implementations, the multiple valid geographic plots include: target valid geographic plots; the processing unit 420 is configured to: determine, based on the driving trajectory of each agricultural machine, that there is at least one target agricultural machine's driving trajectory in the target valid geographic plots; if there are multiple target agricultural machines, evenly distribute the area of ​​the target valid geographic plots among the multiple target agricultural machines; or, if there is only one target agricultural machine, allocate the entire area of ​​the target valid geographic plots to one target agricultural machine.

[0097] In some possible implementations, multiple agricultural machines are equipped with GPS systems. The acquisition unit 410 is used to receive latitude and longitude information sent by the multiple agricultural machines, and the processing unit 420 is used to generate multiple geographic plots for each of the multiple operational patches based on the latitude and longitude information.

[0098] In some possible implementations, the processing unit 420 is used to generate multiple Geohash plots for each job patch.

[0099] In some possible implementations, the area of ​​a geographic parcel is related to the area of ​​each operational patch.

[0100] In some possible implementations, the processing unit 420 is used to determine the similarity of the shapes of multiple work patches and, based on the similarity, confirm that multiple agricultural machines are operating side by side.

[0101] In some possible implementations, multiple agricultural machines are equipped with GPS systems; the acquisition unit 410 is used to receive multiple positioning information sent by each of the multiple agricultural machines; the processing unit 420 is used to generate the driving trajectory of each agricultural machine based on the multiple positioning information, and generate the operation patch of each agricultural machine according to the driving trajectory and operation width of each agricultural machine.

[0102] Figure 7 A schematic structural block diagram of a second 500 for calculating the working area of ​​another agricultural machine operating in parallel, as provided in an embodiment of this application, is shown.

[0103] like Figure 7 As shown, the computing device 500 includes a processor 510 and a memory 520. The memory 520 stores computer programs, and the processor 510 calls and runs the computer programs stored in the memory 520 to perform the above-mentioned tasks. Figures 2 to 5 The method for calculating the working area of ​​parallel-operating agricultural machinery provided in any of the embodiments.

[0104] This application also provides a monitoring system for agricultural machinery. Figure 8 A schematic block diagram of a monitoring system 600 is shown.

[0105] like Figure 8As shown, the monitoring system 600 includes multiple agricultural machines 610 and a computing device 620. The computing device 620 can be used to monitor the multiple agricultural machines 610 and calculate the working area of ​​the agricultural machines working side by side among the multiple agricultural machines 610.

[0106] Optionally, the computing device 620 can be the remote monitoring platform in the above method embodiments, or Figure 6 or Figure 7 The computing device 1 400 or computing device 2 500 shown.

[0107] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0108] It should be understood that the specific examples in this document are only intended to help those skilled in the art better understand the embodiments of this application, and are not intended to limit the scope of the embodiments of this application.

[0109] It should also be understood that, in the various embodiments of this application, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0110] It should also be understood that the various implementation methods described in this specification can be implemented individually or in combination, and the embodiments of this application are not limited in this respect.

[0111] Unless otherwise stated, all technical and scientific terms used in the embodiments of this application have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. The term "and / or" as used in this application includes any and all combinations of one or more of the associated listed items. The singular forms "a," "the," and "the" as used in the embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0112] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0113] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0114] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0115] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0116] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for calculating the working area of ​​parallel-operating agricultural machinery, characterized in that, include: Acquire multiple operational patches generated by multiple agricultural machines after a preset operational time period; Based on the shapes of the multiple work patches, the similarity of the shapes of the multiple work patches is determined, and if the similarity is greater than or equal to a preset threshold, the multiple agricultural machines are confirmed to be operating side by side; For each of the multiple operational patches, generate multiple geographic parcels; Remove duplicate geographic plots from all geographic plots of the multiple operational map patches to obtain multiple valid geographic plots; The travel trajectory of each of the multiple agricultural machines is determined based on each work patch; Based on the driving trajectory of each agricultural machine, it is determined that there is at least one agricultural machine driving trajectory in each of the plurality of valid geographical plots; Based on the determined results, the area of ​​each valid geographical plot is allocated to the multiple agricultural machines; The operating area of ​​each agricultural machine is calculated based on the allocation results; Among them, the plurality of valid geographic parcels include: target valid geographic parcels; The step of determining, based on the travel trajectory of each agricultural machine, that there exists at least one agricultural machine's travel trajectory in each of the plurality of valid geographical plots includes: Based on the driving trajectory of each agricultural machine, it is determined that there is at least one target agricultural machine driving trajectory in the target valid geographical plot; The step of allocating the area of ​​each valid geographical plot to the multiple agricultural machines based on the determined results includes: When there are multiple target agricultural machines, the area of ​​the target effective geographical plot is evenly distributed among the multiple target agricultural machines; or, When the number of target agricultural machines is one, the entire area of ​​the target effective geographical plot is allocated to one target agricultural machine.

2. The calculation method according to claim 1, characterized in that, The aforementioned agricultural machines are equipped with GPS systems; The step of generating multiple geographic parcels for each of the multiple operational parcels includes: Receive latitude and longitude information sent by each of the multiple agricultural machines; Multiple geographic parcels are generated for each operational patch based on the latitude and longitude information.

3. The calculation method according to claim 1, characterized in that, The step of generating multiple geographic parcels for each of the multiple operational parcels includes: Multiple Geohash plots are generated for each of the operation plots.

4. The calculation method according to claim 1, characterized in that, The area of ​​the geographic plot is related to the area of ​​each operational map patch.

5. The calculation method according to claim 1, characterized in that, The aforementioned agricultural machines are equipped with GPS systems; This includes acquiring multiple operational data points for multiple agricultural machines, including: Receive multiple location information messages sent by each of the multiple agricultural machines; The driving trajectory of each agricultural machine is generated based on the multiple positioning information; Based on the travel trajectory and working width of each agricultural machine, a working pattern is generated for each agricultural machine.

6. A device for calculating the working area of ​​parallel-operating agricultural machinery, characterized in that, include: The acquisition unit is used to acquire multiple operational patches from multiple agricultural machines; The processing unit is configured to determine the similarity of the shapes of the multiple work patches based on their shapes, and to confirm that the multiple agricultural machines are operating side by side if the similarity is greater than or equal to a preset threshold. For each of the multiple operational patches, generate multiple geographic parcels; Remove duplicate geographic plots from all geographic plots of the multiple operational map patches to obtain multiple valid geographic plots; The travel trajectory of each of the multiple agricultural machines is determined based on each work patch; Based on the driving trajectory of each agricultural machine, it is determined that there is at least one agricultural machine driving trajectory in each of the plurality of valid geographical plots; Based on the determined results, the area of ​​each valid geographical plot is allocated to the multiple agricultural machines; The operating area of ​​each agricultural machine is calculated based on the allocation results; The plurality of valid geographic parcels includes: target valid geographic parcels; the processing unit is used for: Based on the driving trajectory of each agricultural machine, it is determined that there is at least one target agricultural machine driving trajectory in the target valid geographical plot; When there are multiple target agricultural machines, the area of ​​the target effective geographical plot is evenly distributed among the multiple target agricultural machines; or, When the number of target agricultural machines is one, the entire area of ​​the target effective geographical plot is allocated to one target agricultural machine.

7. The computing device according to claim 6, characterized in that, The multiple agricultural machines are equipped with GPS systems. The acquisition unit is used to receive latitude and longitude information sent by the multiple agricultural machines. The processing unit is used to generate multiple geographic plots for each of the multiple operational plots based on the latitude and longitude information.

8. The computing device according to claim 6, characterized in that, The processing unit is used to generate multiple Geohash plots for each of the operation patches.

9. The computing device according to claim 6, characterized in that, The area of ​​the geographic plot is related to the area of ​​each operational map patch.

10. The computing device according to claim 6, characterized in that, The multiple agricultural machines are equipped with a GPS system; the acquisition unit is used to receive multiple positioning information sent by each of the multiple agricultural machines; the processing unit is used to generate the driving trajectory of each agricultural machine based on the multiple positioning information, and generate the operation patch of each agricultural machine according to the driving trajectory and operation width of each agricultural machine.

11. A device for calculating the working area of ​​parallel-operating agricultural machinery, characterized in that, include: A processor and a memory, the memory for storing a computer program, the processor for calling and running the computer program stored in the memory to perform: the calculation method as described in any one of claims 1 to 5.

12. A monitoring system for monitoring multiple agricultural machines, characterized in that, include: Multiple agricultural machines, and a calculation device for calculating the working area of ​​agricultural machines operating side-by-side as described in any one of claims 6 to 11, the calculation device being used to calculate the working area of ​​the agricultural machines operating side-by-side among the multiple agricultural machines.

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