Agricultural machine control method and device, electronic equipment and storage medium
By using the active edge table method in the agricultural machinery control system to convert vector diagrams into grid diagrams, and combining GPS positioning, precise control of agricultural machinery is achieved, solving the problem of insufficient efficiency and accuracy in the existing technology, and improving Efficiency and accuracy of agricultural operations.
Patent Information
- Application Number
- CN202411226300.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-03
- Publication Date
- 2024-12-27
AI Technical Summary
The existing agricultural machinery control technology lacks efficiency and accuracy during the work process, especially when dealing with irregular terrain and high-speed driving, resulting in waste of resources and environmental pollution.
Select the vector diagram of the pending plot through the graphical user interface, convert it into a grid diagram using the active edge table method, and combine it with the GPS positioning system to control the working status of the agricultural machinery in real time to ensure the accurate processing of each grid and avoid duplication. operate.
It improves the efficiency and accuracy of agricultural machinery, reduces resource waste and environmental pollution, reduces system memory consumption, and maintains high-precision control when driving at high speed.
Smart Images
Figure CN119200467A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of agricultural machinery control, and in particular to a method, device, electronic device and storage medium for agricultural machinery control. Background Art
[0002] Agricultural machinery refers to various machines used in the production process of crop planting and animal husbandry, as well as in the primary processing and treatment of agricultural and animal products. Agricultural machinery includes agricultural power machinery, farmland construction machinery, soil tillage machinery, planting and fertilization machinery, plant protection machinery, farmland irrigation and drainage machinery, crop harvesting machinery, agricultural product processing machinery, animal husbandry machinery and agricultural transportation machinery, etc. For example, seeders, sprayers, fertilizer applicators, etc.
[0003] With the development of intelligence, the automation level of agricultural machinery is getting higher and higher. However, there are still some defects in the control of agricultural machinery during the working process. Summary of the invention
[0004] In view of this, the purpose of the present application is to provide a method, device, electronic device and storage medium for controlling agricultural machinery to overcome the problems in the prior art.
[0005] In a first aspect, an embodiment of the present application provides a method for controlling agricultural machinery, wherein a graphical user interface is displayed by a terminal device, and the method comprises:
[0006] In response to the image selection operation, determining a target vector diagram of the land parcel to be processed from the vector diagrams to be selected displayed on the graphical user interface;
[0007] According to the coordinate data contained in the land parcel to be processed, the target vector map of the land parcel to be processed is converted into a target raster map;
[0008] The working state of the agricultural machine is controlled according to the positional relationship between the current position of the agricultural machine and the target grid map.
[0009] In some technical solutions of the present application, the above-mentioned converting the target vector map of the land parcel to be processed into a target raster map according to the coordinate data contained in the land parcel to be processed includes:
[0010] Based on the active edge table method, the target vector map is transformed to obtain the target grid map.
[0011] In some technical solutions of the present application, the above-mentioned controlling the working state of the agricultural machine according to the positional relationship between the current position of the agricultural machine and the target grid map includes:
[0012] If the agricultural machine is not currently in any grid included in the target grid map, the agricultural machine is controlled to be in a closed state in the section corresponding to the grid.
[0013] In some technical solutions of the present application, the above-mentioned controlling the working state of the agricultural machine according to the positional relationship between the current position of the agricultural machine and the target grid map includes:
[0014] If the agricultural machinery is currently in any grid included in the target grid map, the working state of the agricultural machinery is controlled according to the state attribute of the grid.
[0015] In some technical solutions of the present application, if the agricultural machine is currently in any grid included in the target grid map, controlling the working state of the agricultural machine according to the state attribute of the grid includes:
[0016] If the state attribute of the grid is a processed state, the agricultural machine is controlled to be in a closed state in the section corresponding to the grid.
[0017] In some technical solutions of the present application, if the agricultural machine is currently in any grid included in the target grid map, controlling the working state of the agricultural machine according to the state attribute of the grid includes:
[0018] If the state attribute of the grid is an unprocessed state, the agricultural machine is controlled to be in a working state in the section corresponding to the grid.
[0019] In some technical solutions of the present application, the above method further includes:
[0020] When the agricultural machine completes processing the grid, the attribute state of the grid is modified to a processed state.
[0021] In a second aspect, an embodiment of the present application provides a device for controlling agricultural machinery, which displays a graphical user interface through a terminal device, and the device includes:
[0022] A response module, configured to determine a target vector diagram of a land parcel to be processed from the vector diagrams to be selected displayed on the graphical user interface in response to an image selection operation;
[0023] A conversion module, used for converting the target vector map of the land parcel to be processed into a target raster map according to the coordinate data contained in the land parcel to be processed;
[0024] The control module is used to control the working state of the agricultural machinery according to the positional relationship between the current position of the agricultural machinery and the target grid map.
[0025] In a third aspect, an embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned agricultural machinery control method when executing the computer program.
[0026] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned agricultural machinery control method are executed.
[0027] The technical solution provided by the embodiments of the present application may have the following beneficial effects:
[0028] The method of the present application includes, in response to an image selection operation, determining a target vector map of a plot to be processed from the vector map to be selected displayed on the graphical user interface; converting the target vector map of the plot to be processed into a target grid map according to the coordinate data contained in the plot to be processed; and controlling the working state of the agricultural machinery according to the positional relationship between the current position of the agricultural machinery and the target grid map. The present application controls the working state of the agricultural machinery by converting the vector map of the plot to be processed into a grid map, thereby improving the working efficiency.
[0029] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS
[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.
[0031] Figure 1 A schematic flow chart of a method for controlling agricultural machinery provided in an embodiment of the present application is shown;
[0032] Figure 2 A schematic diagram of a system for controlling agricultural machinery provided by an embodiment of the present application is shown;
[0033] Figure 3 A schematic diagram of a device for controlling agricultural machinery provided in an embodiment of the present application is shown;
[0034] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION
[0035] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.
[0036] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.
[0037] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.
[0038] Agricultural machinery refers to various machines used in the production process of crop planting and animal husbandry, as well as in the primary processing and treatment of agricultural and animal products. Agricultural machinery includes agricultural power machinery, farmland construction machinery, soil tillage machinery, planting and fertilization machinery, plant protection machinery, farmland irrigation and drainage machinery, crop harvesting machinery, agricultural product processing machinery, animal husbandry machinery and agricultural transportation machinery, etc. For example, seeders, sprayers, fertilizer applicators, etc.
[0039] With the development of intelligence, the automation level of agricultural machinery is getting higher and higher. However, there are still some defects in the control of agricultural machinery during the working process.
[0040] Based on this, the embodiments of the present application provide a method, device, electronic device and storage medium for controlling agricultural machinery, which are described below through embodiments.
[0041] Figure 1 A flow chart of a method for controlling agricultural machinery provided in an embodiment of the present application is shown, wherein a graphical user interface is displayed through a terminal device, wherein the method comprises steps S101-S103; specifically:
[0042] S101, in response to an image selection operation, determining a target vector diagram of a land parcel to be processed from the vector diagrams to be selected displayed on the graphical user interface;
[0043] S102, converting the target vector map of the land parcel to be processed into a target raster map according to the coordinate data contained in the land parcel to be processed;
[0044] S103: Control the working state of the agricultural machine according to the positional relationship between the current position of the agricultural machine and the target grid map.
[0045] The present application controls the working state of agricultural machinery and improves working efficiency by converting a vector image of the land to be processed into a raster image.
[0046] Some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.
[0047] The agricultural machinery control method in the embodiment of the present application is applied to a preset agricultural machinery control system, such as Figure 2 As shown in the figure, the agricultural machinery control system includes an intelligent display terminal, a TBOX module, a high-precision positioning module, a controller and a motor.
[0048] The intelligent display terminal displays a graphical user interface, which displays a plurality of vector diagrams to be selected corresponding to the plots to be processed. The user selects the target vector diagram to be processed from the vector diagrams to be selected. Both "to be processed" and "processed" here refer to agricultural machinery, and the agricultural machinery here can be selected according to actual operation requirements. For example, when the agricultural machinery is a seed drill, processing means sowing, and "to be processed" means sowing is required. When the agricultural machinery is a fertilizer applicator, processing means fertilizing, and "to be processed" means fertilizing is required.
[0049] In the specific implementation, the intelligent display terminal stores the prescription files of each plot, for example, the prescription files can be in the form of vector graphics. When the user selects through the intelligent display terminal, he can select by clicking or by inputting parameters. The vector graphics to be selected here contain the plot information of the corresponding plot, including boundary information, plot ID, vertex information of each plot, and information such as the per-acre sowing amount or per-acre fertilizer amount of different plots.
[0050] Here's the prescription Figure 1Generally, the longitude and latitude coordinates in the WGS-84 geographic coordinate system are directly obtained, which is a geographic coordinate system based on a sphere or an ellipsoid. The geographic coordinate system based on a sphere or an ellipsoid is a curved surface that cannot be developed in a plane. The coordinates in this coordinate system are difficult to calculate in terms of position, distance, etc., so it is necessary to convert the spherical coordinates into plane coordinates. In other words, the vector map to be selected contains the first coordinates in the first coordinate system, where the first coordinate system is a three-dimensional coordinate system. The embodiment of the present application needs to convert it into plane coordinates.
[0051] The conversion process is as follows: Use the projection conversion method from WGS84 to UTM (Universal Transverse Mercator) coordinate system based on the PROJ library. Calculate the UTM projection zone according to the input longitude value. The UTM coordinate system divides the earth's surface into several projection zones, each with a width of 6 degrees longitude. The calculated projection zone number generates a string describing the target coordinate reference system. The target coordinate reference system uses the UTM projection and is based on the WGS84 datum. Use the PROJ library to define the projection conversion object from the WGS84 coordinate system (EPSG:4326) to the target UTM coordinate system. Set the longitude and latitude coordinates to be converted, and perform the projection conversion to convert the WGS84 coordinates to UTM coordinates.
[0052] After obtaining the plane coordinates of the target vector map, the target vector map is converted into a target grid map. The conversion process uses the active edge table method. Specifically, the global edge table (GET) is initialized, which contains the starting point, end point, minimum Y coordinate, maximum Y coordinate, current X coordinate and the inverse of the slope (1 / m) of all edges of the polygon corresponding to the target plot.
[0053] Start scanning line by line from the lowest Y coordinate of the polygon and initialize the Active Edge Table (AET). The AET contains the intersection information of the current scan line and the polygon edge and is initially empty.
[0054] According to the Y coordinate of the current scan line, the edges that meet the conditions in GET (the edges whose starting Y coordinate is equal to the Y coordinate of the current scan line) are added to AET, and the edges that are no longer needed (the edges whose ending Y coordinate is equal to the Y coordinate of the current scan line) are removed.
[0055] For each edge in the AET, calculate its intersection with the current scan line and sort the X coordinates of these intersections.
[0056] Fill in the calculated X-coordinate pairs of intersection points. The interval between each two intersection points represents the inner area of the polygon and is filled with the corresponding plot ID information.
[0057] According to the inverse of the slope of the edge (1 / m), the current X coordinate of each edge in the AET is updated to prepare for the next scan.
[0058] Scan row by row until the highest Y coordinate of the polygon is reached. Complete the conversion of the vector prescription map to the raster prescription map, and fill each raster with the corresponding plot ID information. According to actual needs, the size of the raster is the size of the row spacing.
[0059] After converting the target vector map of the target plot into a target grid map, it is necessary to determine the current position of the agricultural machinery and control the working state of the agricultural machinery according to the positional relationship between the current position of the agricultural machinery and the target grid map.
[0060] In the embodiment of the present application, the current position of the agricultural machinery is obtained by a high-precision positioning module (GPS). The GPS is installed at the central axis position on the top of the agricultural machinery cab. The positions of the sowing ports or fertilizer ports of each row are in a straight line along the horizontal direction of the seeder. The geographical position of the agricultural machinery is obtained in real time through the GPS system, and the longitude and latitude spherical coordinates are converted into plane coordinates through projection. The plane coordinates of each sowing unit are calculated based on the geometric relationship between the GPS installation position and each sowing unit.
[0061] After obtaining the current position of the agricultural machinery, compare it with each grid in the target grid map to determine whether the agricultural machinery is located in the grid. If the agricultural machinery is not currently in any grid included in the target grid map, control the agricultural machinery to be in a closed state in the section corresponding to the grid. If the agricultural machinery is currently in any grid included in the target grid map, control the working state of the agricultural machinery according to the state attribute of the grid. If the state attribute of the grid is a processed state, control the agricultural machinery to be in a closed state in the section corresponding to the grid. If the state attribute of the grid is an unprocessed state, control the agricultural machinery to be in a working state in the section corresponding to the grid. When the agricultural machinery completes processing the grid, modify the attribute state of the grid to a processed state.
[0062] In the specific implementation, if the agricultural machinery is in the grid prescription map, it is determined whether it is a grid that has been sown or fertilized. If it is a grid that has not been sown or fertilized, the grid is determined according to the position of the sowing unit, the plot ID is obtained, and the per-acre sowing / per-acre fertilization information of the current plot is indexed. The sowing / fertilization amount information including the sowing amount / fertilization amount and the number of sowing / fertilization rows is sent to the controller through the CAN bus for variable sowing or fertilization. The sown or fertilized grid is marked to prevent repeated operations. If it is a sown or fertilized grid, the corresponding section is closed to avoid repeated sowing or fertilization.
[0063] The embodiment of the present application integrates modules such as vector map conversion, GPS positioning, and section control to achieve efficient data processing and real-time decision-making. By optimizing the algorithm, it is ensured that the system can still maintain high-precision control when the agricultural machinery is traveling at high speed, thereby improving the efficiency and accuracy of agricultural operations. The efficient conversion of vector prescription maps to raster prescription maps is achieved, and combined with the GPS positioning system, precise control of each section of the agricultural machinery is achieved. This solution not only improves the efficiency and accuracy of agricultural operations, reduces resource waste and environmental pollution, but also reduces the memory consumption of the system. It has broad application prospects and significant economic benefits.
[0064] Existing plot prescription maps usually exist in vector format, but in actual operation, they need to be converted into raster maps to match the row spacing of agricultural machinery and equipment, so as to guide agricultural machinery and equipment to perform precise sowing and fertilization. This application proposes a conversion method based on the Active Edge Table (AET) method to achieve efficient conversion of vector prescription maps to raster prescription maps, and fill in the plot ID and related information for each raster. In agricultural operations, especially at the edge of a field or in irregular terrain, it is difficult to achieve accurate section control with traditional methods, resulting in repeated application or missed areas. This application combines the GPS positioning system to obtain the geographic location of agricultural machinery in real time, and converts it into plane coordinates, and realizes accurate control of each section of agricultural machinery based on the raster prescription map to avoid resource waste and environmental pollution. In high-speed agricultural machinery, achieving real-time data processing and decision-making is an important challenge. This application ensures that high-precision section control can be maintained when agricultural machinery is traveling at high speed, and adjusts the sowing or fertilization operations according to real-time data by constructing an efficient data processing algorithm. In the traditional method, the path that the machine has walked is marked as a vector graphic and indexed. Storing and processing a large number of vector graphics will take up a lot of memory. This application stores the plot ID in the grid and indexes the sowing or fertilization information by the plot ID, which effectively reduces the memory consumption and improves the operation efficiency of the system.
[0065] Figure 3 A schematic diagram of the structure of a device for controlling agricultural machinery provided in an embodiment of the present application is shown, wherein a graphical user interface is displayed through a terminal device, and the device includes:
[0066] A response module, configured to determine a target vector diagram of a land parcel to be processed from the vector diagrams to be selected displayed on the graphical user interface in response to an image selection operation;
[0067] A conversion module, used for converting the target vector map of the land parcel to be processed into a target raster map according to the coordinate data contained in the land parcel to be processed;
[0068] The control module is used to control the working state of the agricultural machinery according to the positional relationship between the current position of the agricultural machinery and the target grid map.
[0069] The step of converting the target vector map of the land parcel to be processed into a target raster map according to the coordinate data contained in the land parcel to be processed comprises:
[0070] Based on the active edge table method, the target vector map is transformed to obtain the target grid map.
[0071] The controlling the working state of the agricultural machine according to the positional relationship between the current position of the agricultural machine and the target grid map comprises:
[0072] If the agricultural machine is not currently in any grid included in the target grid map, the agricultural machine is controlled to be in a closed state in the section corresponding to the grid.
[0073] The controlling the working state of the agricultural machine according to the positional relationship between the current position of the agricultural machine and the target grid map comprises:
[0074] If the agricultural machinery is currently in any grid included in the target grid map, the working state of the agricultural machinery is controlled according to the state attribute of the grid.
[0075] If the agricultural machine is currently in any grid included in the target grid map, controlling the working state of the agricultural machine according to the state attribute of the grid includes:
[0076] If the state attribute of the grid is a processed state, the agricultural machine is controlled to be in a closed state in the section corresponding to the grid.
[0077] If the agricultural machine is currently in any grid included in the target grid map, controlling the working state of the agricultural machine according to the state attribute of the grid includes:
[0078] If the state attribute of the grid is an unprocessed state, the agricultural machine is controlled to be in a working state in the section corresponding to the grid.
[0079] When the agricultural machine completes processing the grid, the attribute state of the grid is modified to a processed state.
[0080] like Figure 4 As shown, an embodiment of the present application provides an electronic device for executing the agricultural machinery control method in the present application, the device includes a memory, a processor, a bus, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the agricultural machinery control method when executing the computer program.
[0081] Specifically, the above-mentioned memory and processor may be general-purpose memory and processor, which are not specifically limited here. When the processor runs the computer program stored in the memory, the above-mentioned agricultural machinery control method can be executed.
[0082] Corresponding to the method of agricultural machinery control in the present application, an embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned method of agricultural machinery control are executed.
[0083] Specifically, the storage medium can be a general storage medium, such as a mobile disk, a hard disk, etc. When the computer program on the storage medium is run, the above-mentioned agricultural machinery control method can be executed.
[0084] In the embodiments provided in the present application, it should be understood that the disclosed systems and methods can be implemented in other ways. The system embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of systems or units, which can be electrical, mechanical or other forms.
[0085] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, and may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
[0086] In addition, each functional unit in the embodiments provided in the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
[0087] If the functions are implemented in the form of 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 the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.
[0088] It should be noted that similar numbers and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and are not to be understood as indicating or implying relative importance.
[0089] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application. They should all be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims
1. A method for controlling agricultural machinery, characterized in that: Displaying a graphical user interface via a terminal device, the method comprising: In response to the image selection operation, determining a target vector diagram of the land parcel to be processed from the vector diagrams to be selected displayed on the graphical user interface; According to the coordinate data contained in the land parcel to be processed, the target vector map of the land parcel to be processed is converted into a target raster map; The working state of the agricultural machine is controlled according to the positional relationship between the current position of the agricultural machine and the target grid map.
2. The method according to claim 1, characterized in that The step of converting the target vector map of the land parcel to be processed into a target raster map according to the coordinate data contained in the land parcel to be processed comprises: Based on the active edge table method, the target vector map is transformed to obtain the target grid map.
3. The method according to claim 1, characterized in that The controlling the working state of the agricultural machine according to the positional relationship between the current position of the agricultural machine and the target grid map comprises: If the agricultural machine is not currently in any grid included in the target grid map, the agricultural machine is controlled to be in a closed state in the section corresponding to the grid.
4. The method according to claim 1, characterized in that: The controlling the working state of the agricultural machine according to the positional relationship between the current position of the agricultural machine and the target grid map comprises: If the agricultural machinery is currently in any grid included in the target grid map, the working state of the agricultural machinery is controlled according to the state attribute of the grid.
5. The method according to claim 4, characterized in that If the agricultural machine is currently in any grid included in the target grid map, controlling the working state of the agricultural machine according to the state attribute of the grid includes: If the state attribute of the grid is a processed state, the agricultural machine is controlled to be in a closed state in the section corresponding to the grid.
6. The method according to claim 4, characterized in that If the agricultural machine is currently in any grid included in the target grid map, controlling the working state of the agricultural machine according to the state attribute of the grid includes: If the state attribute of the grid is an unprocessed state, the agricultural machine is controlled to be in a working state in the section corresponding to the grid.
7. The method according to claim 6, characterized in that The method further comprises: When the agricultural machine completes processing the grid, the attribute state of the grid is modified to a processed state.
8. A device for controlling agricultural machinery, characterized in that: A graphical user interface is displayed by a terminal device, the device comprising: A response module, configured to determine a target vector diagram of a land parcel to be processed from the vector diagrams to be selected displayed on the graphical user interface in response to an image selection operation; A conversion module, used for converting the target vector map of the land parcel to be processed into a target raster map according to the coordinate data contained in the land parcel to be processed; The control module is used to control the working state of the agricultural machinery according to the positional relationship between the current position of the agricultural machinery and the target grid map.
9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and when the machine-readable instructions are executed by the processor, the steps of the agricultural machinery control method as described in any one of claims 1 to 7 are performed.
10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the agricultural machinery control method as described in any one of claims 1 to 7 are executed.