Agricultural machinery behavior identification method fusing interpolation enhancement and depth spatial-temporal feature modeling

Abstract

The invention belongs to the technical field of electric digital data processing, and more specifically relates to an agricultural machinery behavior identification method fusing interpolation enhancement and depth spatial-temporal feature modeling. The method comprises the following steps: acquiring GNSS trajectory data of an agricultural machine and preprocessing the trajectory data; performing data enhancement on the road points in the data set by adopting a local interpolation method based on DBSCAN (Density Based Spatial Clustering of Applications with Noise) clustering; designing a set of spatial distribution feature extraction method; performing feature extraction on the trajectory data after data enhancement by combining motion feature extraction and spatial distribution feature extraction; introducing a variational auto-encoder VAE to carry out potential feature extraction on the initial features; then, a ResBiLSTM network is adopted to carry out space-time modeling; and finally, an end-to-end classification decision is realized through a linear classifier, so that intelligent identification of the operation behavior of the agricultural machine is realized. According to the method, two key problems in the existing track identification technology are solved, namely, data distribution is seriously unbalanced, and the spatial distribution characteristics of track points are often neglected.

Description

Technical Field

[0001] The present invention belongs to the technical field of electronic digital data processing, and more specifically, relates to a method for identifying agricultural machinery behavior by integrating interpolation enhancement and depth spatio-temporal feature modeling. Background Art

[0002] With the acceleration of the agricultural modernization process and the popularization of large-scale planting, the integrated development of sensor technology, the Global Navigation Satellite System (GNSS) and Geographic Information System (GIS) provides key support for the intelligentization of agricultural machinery. Through high-precision and real-time trajectory tracking technology, the massive operation data generated by agricultural machinery has become the core resource of smart agriculture. Under this background, the identification of agricultural machinery behavior, that is, accurately determining whether the agricultural machinery is in the field operation or road driving state, has become an important research topic in intelligent agricultural management. As the core technical means to achieve agricultural machinery behavior identification, the field-road classification technology essentially classifies GNSS trajectory points accurately through machine learning or deep learning methods to distinguish field points from road points, so as to realize the intelligent identification of agricultural machinery operation behavior. This technological breakthrough not only builds a technical bridge from trajectory points to behavior identification, but also significantly reduces the dependence on traditional manpower and hardware, and realizes the rapid measurement of cultivated area. Further analysis shows that the value of the field-road classification technology in the intelligent management of agricultural machinery is reflected in three levels: First, through automatic classification of agricultural machinery trajectory points, the accurate identification of agricultural machinery operation behavior is realized, providing data support for agricultural production decision-making; Second, based on the statistical analysis of the classification results, the operation efficiency and usage intensity of agricultural machinery can be quantitatively evaluated to optimize resource allocation; Third, combined with the precise positioning ability of GNSS, it provides a basis for path planning and operation scheduling to improve agricultural production efficiency. In addition, by developing an intelligent agricultural machinery behavior identification system, real-time monitoring and analysis tools can be provided for farmers, farms and regulatory departments to promote the efficient allocation of agricultural resources. To sum up, the collaborative application of the field-road classification technology and multi-source perception technology not only reconstructs the data collection and management paradigm of modern agriculture, but also lays a technical foundation for improving agricultural production efficiency and achieving sustainable development goals through precise and intelligent decision-making support, showing broad application prospects.

[0003] The current field-road classification methods are mainly divided into two categories: traditional machine learning and deep learning. Traditional machine learning methods rely on manually designed motion features, such as speed, acceleration, and classical algorithms, such as decision trees and support vector machines, for classification. For example, Poteko et al. extracted 25 motion features and input them into a decision tree, but ignored the spatial distribution features, resulting in poor robustness. Deep learning models have shown better performance in this field due to their advantages in spatio-temporal relationship modeling and deep feature learning. For example, the ConvTEBiLSTM model proposed by Bian et al. realizes the fusion of local and global trajectory features through one-dimensional convolution and the Transformer-Encoder network; and the pixel-level feature extraction method developed by Chen et al. combines trajectory visual features with statistical features. Although deep learning performs excellently in the field-road classification task, its performance is still restricted by trajectory quality, data distribution imbalance, and insufficient feature utilization. First, the quality problem of GNSS trajectory data is prominent. Affected by climate, terrain, and device performance, problems such as noise, drift, and repetition are common, and the existing methods have limited effects on dealing with noise and offsets. Second, the problem of data distribution imbalance is serious. The number of field points is significantly more than that of road points, resulting in the model being biased towards majority-class features, increasing the risk of misclassifying road points, and the existing methods often ignore this problem. Finally, the spatial distribution features of trajectory points, such as parallel relationships, density, and distance, are often ignored. Compared with road points, field points show more changes in the moving direction, higher point density, and smaller spacing between adjacent points, but these key information have not been fully utilized. These factors jointly restrict the further improvement of classification accuracy.

[0004] Chinese patent document CN119761566A discloses a ship trajectory prediction method based on variational autoencoder and BiLSTM. First, by reading the MMSI number, longitude, latitude, speed over ground, and course over ground of the ship trajectory data collected by AIS as the feature sequence of the input data of the trajectory prediction model, and dividing the trajectory sequences of different lengths into sequence segments of fixed length based on the trajectory segmentation of the sliding window; then, performing variational inference on the original trajectory data through the variational autoencoder model, learning the latent space representation, establishing the correlation relationship between the trajectory information and the historical trajectory information, and calculating the reconstructed trajectory; then, using the bidirectional long short-term memory network model to capture the long-term dependence relationship of the trajectory data and learning the characteristics of the trajectory to predict the trajectory position at the next moment.

[0005] In view of this, the present invention designs an agricultural machinery behavior recognition method that combines interpolation enhancement and deep spatio-temporal feature modeling. Summary of the Invention

[0006] The present invention aims to overcome at least one defect of the above-mentioned prior art, and provides a method for identifying agricultural machinery behavior by integrating interpolation enhancement and depth spatio-temporal feature modeling, so as to solve the problems of unbalanced data distribution and often overlooked spatial distribution characteristics of trajectory points in the existing trajectory recognition technology.

[0007] The detailed technical solution of the present invention is as follows: A method for identifying agricultural machinery behavior by integrating interpolation enhancement and depth spatio-temporal feature modeling, the method comprising: S1. Obtain the GNSS trajectory data of the agricultural machinery and preprocess the trajectory data; S2. Data enhancement: A local interpolation method based on DBSCAN clustering is used to perform data enhancement on the road points in the preprocessed trajectory data set, effectively solving the problem of class imbalance commonly existing in agricultural machinery trajectory data; S3. Feature extraction: Design a set of spatial distribution feature extraction methods to quantitatively analyze the spatial attributes such as the density feature, parallel relationship, and distance relationship of trajectory points; Feature extraction is performed on the trajectory data after data enhancement by combining motion feature extraction and spatial distribution feature extraction, and the initial features of each trajectory point are extracted. Each trajectory point consists of 14 initial features, and a multi-dimensional feature input space is constructed; S4. Feature optimization: Introduce a variational autoencoder VAE to perform latent feature extraction on the initial features, and obtain a more discriminative embedded feature representation through non-linear transformation; subsequently, an improved BiLSTM network - ResBiLSTM network is used for spatio-temporal modeling: on the one hand, its bidirectional structure is used to fully capture the temporal dependence relationship, and on the other hand, the information flow transmission of the network is optimized through the residual connection mechanism, effectively alleviating the problem of gradient disappearance in deep networks; S5. Finally, the deep features extracted by the ResBiLSTM network are input into the fully connected layer for class mapping. Subsequently, the Sigmoid function is used to calculate the probability distributions of the field and road categories, and the category with the highest probability is selected as the classification result, thereby realizing the intelligent identification of agricultural machinery operation behavior.

[0008] Preferably according to the present invention, the obtaining of the GNSS data of the agricultural machinery in step S1 refers to: Obtain the GNSS trajectory data of the agricultural machinery, wherein each GNSS trajectory point is manually labeled as the "1" field and "0" road categories, and a trajectory can be expressed as: (1) Wherein, represents a trajectory, represents the trajectory points that make up the trajectory, represents the trajectory the number of trajectory points on; The preprocessing of the trajectory data refers to: 1.1 Removing duplicate values: Removing consecutive duplicate trajectory points with the same longitude and latitude coordinates; 1.2 Removing drift points: Detecting deviation points by calculating the speed and direction differences between adjacent points, smoothing the calculated difference data using the exponential weighted average method, which assigns a higher weight to the latest data points and a lower weight to the older data points to reduce noise and unnecessary fluctuations, thereby eliminating the influence of drift points; meanwhile, setting a threshold, and when the difference value exceeds the threshold, marking these points as drift points and removing them from the trajectory data; 1.3 Smoothing noise points: Using the Savitzky-Golay smoothing filter to optimize the trajectory data after removing duplicate values and drift points. This filter is based on the principle of local polynomial least squares fitting and realizes data optimization through the following processing flow: First, perform low-order polynomial fitting on the longitude and latitude coordinates of the trajectory points within a preset sliding window respectively; then, replace the original observed value of the window center point with the fitting calculated value; finally, complete the iterative processing of the entire trajectory by sliding the window.

[0009] Preferably according to the present invention, in step S2, the specific steps of the data enhancement are as follows: Based on the spatial distribution characteristics and domain knowledge of the agricultural machinery trajectory data, preliminarily determine the value of the neighborhood radius: Adopt the K-Distance Graph method, calculate the distance from each road point to the Kth nearest neighbor point, draw a distance sorting graph, and find the sudden increase "inflection point". The distance corresponding to this inflection point is the candidate value of the neighborhood radius; of; Cluster according to the preliminarily determined value of the neighborhood radius, and through the visual evaluation results of the field points and road points, ensure that the points on the same road segment are clustered into one cluster, and the points on different road segments belong to different clusters; Perform linear interpolation on each cluster separately, ensuring that the interpolation points are only within the range of relatively close geographical distance and similar structure to avoid incorrect connection and unreasonable interpolation. Preferably according to the present invention, the specific linear interpolation for each cluster is as follows:

[0010] First, sort the road points in each cluster according to the timestamp; Then, check the distance between the road point and its adjacent road point whether it is less than the threshold If it is greater than the threshold, skip it to ensure the spatial rationality of the interpolation points: ; (2) ​Further check these two road points and to see if their directions are the same, that is, whether the direction angle difference meets the following formula to ensure that the interpolation points do not deviate from the driving direction of the road points: (3) or (4) where, represents the direction angle of road point , represents the direction angle of road point , is the maximum allowable direction angle difference; Finally, perform linear interpolation on the road points that simultaneously meet the distance and direction conditions. The interpolation formula is defined as follows: (5) (6) where, is the interpolation point, is the interpolation interval, is the number of interpolation points; To ensure the rationality of , calculate the distances between all road points and their nearest neighbors in the preprocessed dataset, and find the average of these distances, which is used as the value of .

[0011] According to the preference of the present invention, the motion feature extraction described in step S3 includes nine motion features, which are defined by formulas (7)-(12). Each trajectory point , and are longitude and latitude, is the timestamp, is the speed, is the direction, , where the speed and direction are directly from the point records.

[0012] (7) (8) (9) (10) (11) , (12) where, , , , , , , , and respectively represent the velocity change, acceleration, direction change, angular velocity, angular acceleration, latitude change, longitude change, distance, and curvature of the th GNSS trajectory point; , , , and respectively represent the velocity, timestamp, direction angle, latitude, and longitude of the th GNSS trajectory point; , , , , , and respectively represent the velocity, timestamp, direction angle, angular velocity, latitude, longitude, and distance of the th GNSS trajectory point; represents the average radius of the Earth and = 6371000; represents the modulo operation, .

[0013] According to the preferred embodiment of the present invention, the extraction of the spatial distribution characteristics in step S3 is specifically as follows: Define a rectangular area around the current trajectory point, with the width direction consistent with the moving direction and the length direction perpendicular to the moving direction; within the rectangular area, calculate the number of trajectory points around the current trajectory point as its density feature. The density of field points is usually higher than that of road points. The definition of the density feature is as follows: (13) where, is the number of trajectory points within the rectangular area centered at point , represents the rectangular area of point , is the number of trajectory points within the trajectory, is the indicator function, which returns 1 when point is within the rectangle and returns 0 otherwise; Within the rectangular area, calculate the mean and standard deviation of the direction angle differences as the parallel relationship feature. The definition of the parallel relationship is as follows: (14) (15) where, and respectively represent the mean and standard deviation of the angular difference of the current point , represents other trajectory points within the rectangular box represents the trajectory point and the angular difference between is the number of trajectory points within the rectangular area centered at the point ; represents the rectangular area of the point ; Extract distance features based on spatial distribution, using a method that combines short-term and long-term sliding windows: the short-term window is used to capture motion fluctuations, and the long-term window is used to reflect the overall trend; specifically, for each trajectory point, calculate the distance within its corresponding window length using two sliding window lengths. In the present invention, the short-term window is set to 5 and the long-term window is set to 10 to effectively highlight the distance difference between road points and field points.

[0014] According to the preference of the present invention, in step S4, the variational autoencoder VAE is introduced to extract latent features from the initial features, and more discriminative embedded feature representations are obtained through non-linear transformation as follows: The 14 initial features extracted in the feature extraction stage are used as the input of the VAE encoder. After passing through the VAE encoder, two independent vectors are output: the mean of the latent space distribution and the logarithm of the variance (16) where I is the input of the VAE encoder, representing 14 initial features; represents the variance; Subsequently, the VAE encoder uses the reparameterization technique to sample the latent space. This mechanism enables the gradient to be backpropagated through random nodes. By reconstructing the parameters of the latent vector distribution, the network can better understand the global structure of the data. The reparameterization process is defined as follows: (17) where represents the random noise sampled from the standard normal distribution, represents the encoded representation of the initial data in the latent space, represents the variance.

[0015] The reparameterization technique may amplify the gradient, especially when the standard deviation is small. To mitigate the potential gradient explosion problem in VAE training, a gradient clipping strategy is adopted to set a gradient upper bound to prevent it from exceeding a predefined threshold. Based on gradient distribution analysis and multiple training tests, a process of clipping to the range of [-2, 2] is constructed, and the specific definition is as follows: (18) where, the function restricts within the range of [-2, 2]. This function helps to maintain the stability of the gradient and reduce the impact of gradient explosion on model training.

[0016] According to the preference of the present invention, in step S4, the improved BiLSTM network - ResBiLSTM network is adopted for spatio-temporal modeling, which is specifically as follows: After extracting the embedded features through VAE, these features are input into BiLSTM to capture deep temporal relationships. Different from the standard LSTM that can only learn forward information, BiLSTM can capture the information between trajectory points bidirectionally by dividing the hidden neurons into two parts: forward and backward propagation, and make full use of the forward and backward information. The BiLSTM network contains two LSTM modules, and its expression is as follows: (19) where, is the input feature vector of the th point in BiLSTM, is the hidden state, is the hidden state of the (t - 1)th point; (20) (21) (22) where, captures the temporal relationship from past points and is the forward hidden state, then learns the temporal dependence from future points and is the backward hidden state. The forward and backward hidden states are concatenated to obtain ; The stacking of multiple layers of networks in LSTM may lead to the loss of feature information and gradient problems, affecting network training. Adding residual connections can enable the deep network to retain low-level features, capture high-level temporal features at the same time, and provide a shorter transmission path for the gradient, alleviating the gradient problem and accelerating network convergence. Therefore, a residual structure is added to BiLSTM, and the output of the current point is added to the original input, and the definition is as follows: (23) Among them, is the input at the t-th point in the BiLSTM, is the state after adding the residual. The residual connection is located after the output of each layer of LSTM. That is, after each layer of LSTM processes the sequence, its output is added to the residual feature to obtain a new feature and input it into the next layer of LSTM.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) By introducing the DBSCAN-guided data augmentation technology, the present invention effectively alleviates the problem of unbalanced class distribution commonly existing in the trajectory dataset, significantly reduces the misclassification rate of road points, that is, the minority class, thereby improving the overall classification accuracy.

[0018] (2) Based on the essential characteristics of the spatio-temporal continuity of trajectory data, the present invention integrates the spatial distribution characteristics and motion characteristics to construct a more discriminative multi-dimensional feature representation system.

[0019] (3) In terms of the model architecture design, the present invention organically combines the residual connection mechanism, the bidirectional long short-term memory network BiLSTM, and the variational autoencoder VAE. This multi-module collaborative deep spatio-temporal modeling method significantly improves the feature expression ability, effectively prevents information loss, and finally achieves a more accurate field-road classification effect. Brief Description of the Drawings

[0020] Figure 1 is the flow chart of the agricultural machinery behavior recognition method that combines interpolation enhancement and deep spatio-temporal feature modeling of the present invention.

[0021] Figure 2 is the data imbalance distribution diagram in Embodiment 1 of the present invention.

[0022] Figure 3 is the K-Distance Graph of the wheat dataset in Embodiment 1 of the present invention.

[0023] Figure 4 is the visualization distribution diagram of field points and road points in Embodiment 1 of the present invention.

[0024] Figure 5 is the clustering result diagram of road points in Embodiment 1 of the present invention.

[0025] Figure 6 is the original trajectory diagram before data augmentation in Embodiment 1 of the present invention.

[0026] Figure 7 is the trajectory diagram after data augmentation in Embodiment 1 of the present invention.

[0027] Figure 8It is a density and parallel relationship feature map based on spatial distribution in Example 1 of the present invention. DETAILED DESCRIPTION

[0028] The present disclosure is further described below in conjunction with the accompanying drawings and embodiments.

[0029] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present disclosure. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present disclosure belongs.

[0030] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present disclosure. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0031] In the absence of conflict, the embodiments in the present disclosure and the features in the embodiments may be combined with each other.

[0032] In order to solve the shortcomings of the prior art, the present invention provides an agricultural machinery behavior recognition method that integrates interpolation enhancement and deep spatiotemporal feature modeling. The method designs an innovative deep neural network framework DBSCAN-VE-ResBiLSTM model, which integrates data enhancement, spatial distribution feature extraction and deep spatiotemporal representation learning for field-road classification. First, the trajectory data is preprocessed using a data smoothing function to improve data quality. Secondly, a DBSCAN-based clustering method is used to perform local interpolation on road points to alleviate the problem of unbalanced data distribution. In addition, the motion features and spatial distribution features are combined to improve the data representation capability. Then, in order to fully explore the potential features in the trajectory data, the BiLSTM integrated into the residual structure is combined with the variational autoencoder VAE, and a VE-ResBiLSTM network is proposed to learn deeper feature representations from the latent space. Finally, a linear classifier is used to complete the field-road classification task.

[0033] The agricultural machinery behavior recognition method integrating interpolation enhancement and deep spatiotemporal feature modeling of the present invention is further described below in conjunction with specific embodiments.

[0034] Embodiment 1, Ginseng Figure 1 This embodiment provides an agricultural machinery behavior recognition method integrating interpolation enhancement and deep spatiotemporal feature modeling, the method comprising: S1, obtaining GNSS trajectory data of agricultural machinery and preprocessing the trajectory data; To prove the effectiveness of the present invention, 150 sets of existing GNSS trajectory data of rice harvesters were selected. These data were collected by the Beidou team of China Agricultural University, and the labels of these trajectory data were manually annotated by the team. Among them, each GNSS trajectory point was labeled as "1" for the field and "0" for the road category. A trajectory can be expressed as: (1) Wherein, represents a trajectory, represents the trajectory points that make up the trajectory, represents the trajectory the number of points on.

[0035] The GNSS receiver is usually installed at a fixed position of the agricultural machinery, such as the top of the cab or the center position of the vehicle, for receiving satellite signals in real time and calculating the longitude and latitude coordinates of the agricultural machinery. However, GNSS signals are vulnerable to climate conditions, terrain, and equipment performance limitations in an open environment. At the same time, frequent braking operations of agricultural machinery, such as stopping and turning, will also affect the performance of the GNSS receiver. These factors together lead to problems such as noise, drift, and repetition in the collected GNSS agricultural machinery trajectory data. These data quality problems will not only reduce the stability of the trajectory point classification results, but also weaken the robustness and classification accuracy of the model. The following steps are specific data preprocessing operations: 1.1 Removing duplicate values: When the agricultural machinery pauses operation in the field but remains powered on, the GNSS receiver will continuously record coordinates. However, since the agricultural machinery does not actually move, a large number of duplicate points will be generated. Therefore, consecutive duplicate trajectory points with the same longitude and latitude coordinates are removed.

[0036] 1.2 Removing drift points: Drift points refer to abnormal points that deviate significantly from the rest of the data points in the data, usually caused by instantaneous errors or other abnormal situations. Compared with the points around them, the distance of these points is significantly larger, which does not conform to the trend of the overall data. These deviated points are detected by calculating the speed and direction differences between adjacent points, and the calculated difference data is smoothed using the exponential weighted average method. This method assigns a higher weight to the latest data points and a lower weight to the older data points to reduce noise and unnecessary fluctuations, thereby eliminating the influence of drift points. A threshold of 2 is set. When the difference value exceeds this threshold, these points are marked as drift points and removed from the trajectory data.

[0037] 1.3 Smooth noise points: During the GNSS trajectory acquisition process, signal noise interference is inevitable, and this noise will significantly affect the accuracy of trajectory data and the reliability of subsequent analysis. To address this issue, in this embodiment, a Savitzky-Golay smoothing filter is used to optimize the trajectory data after removing duplicate values and drift points. This filter is based on the principle of local polynomial least squares fitting and realizes data optimization through the following processing flow: First, low-order polynomial fitting is performed on the longitude and latitude coordinates of the trajectory points within a preset sliding window; then, the original observed value at the center point of the window is replaced with the fitting calculated value; finally, the entire trajectory is iteratively processed by sliding the window. This processing method has two advantages: on the one hand, it can effectively eliminate the interference of random noise and outliers on the data, making the trajectory smoother and more continuous; on the other hand, it can better retain the main movement trend and spatial pattern characteristics of the original data, ensuring that the processed trajectory data not only improves the quality but also maintains a high degree of consistency with the actual movement trajectory.

[0038] S2. Data augmentation: A local interpolation method based on DBSCAN clustering is used to augment the road points in the preprocessed trajectory dataset, effectively solving the problem of class imbalance commonly existing in agricultural machinery trajectory data.

[0039] Specifically, the DBSCAN-guided method is used for data augmentation: The imbalance problem of GNSS points significantly affects the classification accuracy, and the data is unevenly distributed as Figure 2 shown. To solve this problem, the present invention proposes a local interpolation method based on DBSCAN clustering for data augmentation, which improves the traditional oversampling technique of synthetic minority over-sampling technique. By supplementing samples in the sparse areas of road points in each cluster, it not only alleviates the imbalance of data distribution but also retains the original distribution characteristics, effectively avoiding the problem that the traditional SMOTE method is prone to generating noise samples when the data is imbalanced. DBSCAN is a density-based clustering algorithm, and its core idea is that clusters are composed of core points with higher density. The determination of core points depends on two parameters: the neighborhood radius and the minimum number of points within the neighborhood .

[0040] The so-called core point means that if the number of points in the neighborhood of point is greater than , then point is a core point.

[0041] The neighborhood of the point refers to: the neighborhood of point , denoted as , is defined as: , where is a set of points in the trajectory, is the point and the point is the Euclidean distance between them.

[0042] DBSCAN completes the clustering process by successively extracting clusters. Starting from an arbitrary point , its neighborhood is checked. If is a core point, a new cluster is created with the points in . Then, for each point in whose neighborhood has not been checked yet, if is a core point, the points in that have not been included in are added to the cluster. The expansion of the cluster continues until no new points can be added to the cluster. The clustering process terminates when no new clusters are created. Points that are neither core points nor in the neighborhood of any core point are labeled as isolated points.

[0043] The agricultural machinery trajectory contains multiple road segments or turning areas, and clustering needs to effectively distinguish different road segments. Due to the spatial separation between segments, trajectory points should not be wrongly clustered, so as not to affect the data accuracy during interpolation due to incorrect connections. Therefore, the goal of clustering is to cluster the points on the same road segment into the same cluster and avoid cross-segment interference. When performing DBSCAN clustering, the selection of the value is crucial.

[0044] If it is too small, the trajectory points on the same segment may be wrongly segmented or labeled as isolated points; if it is too large, different road segments may be wrongly clustered into one cluster, especially in areas with close distances or intersections, affecting the interpolation and classification performance. According to the spatial distribution characteristics of the agricultural machinery trajectory data and domain knowledge, the value is initially determined. Considering the continuity of the trajectory, should be less than the minimum distance between different road segments and greater than the maximum distance between adjacent points on the same segment. To more scientifically determine the value, in this embodiment, the K-Distance Graph method is adopted to select appropriate parameters by showing the change of data density. The distance from each road point to its K-th nearest neighbor is calculated, a distance sorting graph is plotted, and the "inflection point" with a sudden increase is found. The distance corresponding to this inflection point is the candidate value of Figure 3shows the K-Distance Graph of the wheat dataset, and the points marked by red circles are candidate values.

[0045] In this embodiment, clustering is first performed according to the preliminarily determined value, and the results are evaluated visually to ensure that the points on the same road segment are clustered into one cluster, and the points on different road segments belong to different clusters. Since there is a spatial distance separation between different road segments, which is usually connected by field areas. Therefore, in this embodiment, linear interpolation is performed separately for each road segment, that is, each cluster, to maintain the original spatial distance and avoid incorrect connection. If the clustering effect is not ideal, then is fine-tuned and optimized in combination with domain knowledge and data density , and finally the optimal parameter combination is determined through multiple experiments. Figure 4 shows the visual distribution of field points and road points, Figure 5 shows the clustering results of road points, and different road segments are correctly divided into different clusters, and the isolated points are marked in black.

[0046] In this embodiment, linear interpolation is performed separately for each cluster to ensure that the interpolation points are only within a range where the geographical distance is relatively close and the structure is similar, so as to avoid incorrect connection and unreasonable interpolation. The local interpolation calculation cost is lower than that of global interpolation, especially more efficient when the data volume is large.

[0047] First, the road points in each cluster are sorted by timestamp. Then, check whether the distance between the road point and its adjacent road point is less than the threshold . If it is greater than the threshold, it is skipped to ensure the spatial rationality of the interpolation points.

[0048] (2) Further check whether the directions of these two road points and are the same, that is, whether the direction angle difference satisfies the following formula to ensure that the interpolation points do not deviate from the driving direction of the road points, where is the maximum allowable direction angle difference.

[0049] (3) or (4) Among them, represents the direction angle of the road point , represents the direction angle of the road point , is the maximum allowable direction angle difference; Finally, linear interpolation is performed on the road points that simultaneously meet the distance and direction conditions. The interpolation formula is defined as follows: (5) (6) where is the interpolation point, is the interpolation interval, is the number of interpolation points. To ensure the is reasonable, calculate the distances between all road points in the preprocessed dataset and their nearest neighbors, and obtain the average value of these distances, which is used as the value.

[0050] In this embodiment, is set to be consistent with the value of DBSCAN clustering to ensure that the interpolation follows the spatial constraints of the clustering and avoid cross-cluster interpolation. In trajectory data, the direction angles of adjacent points are usually consistent. If the direction difference is too large, it may indicate that they belong to different trajectory segments. Therefore, in this embodiment, is set to to cover common agricultural machinery steering situations and avoid excessive direction changes, ensuring that the interpolation points accurately reflect the trajectory trend.

[0051] Figure 6 and Figure 7 show the change in the distribution density of trajectory points before and after data augmentation, where Figure 6 is the original trajectory map, Figure 7 is the trajectory map after data augmentation; the DBSCAN-guided data augmentation method effectively generates road points, helping the model learn more road point features, thereby more accurately distinguishing field points from road points.

[0052] S3. Feature extraction: Design a set of spatial distribution feature extraction methods to quantitatively analyze the spatial attributes such as the density feature, parallel relationship, and distance relationship of trajectory points; Through the combination of motion feature extraction and spatial distribution feature extraction, feature extraction is performed on the trajectory data after data augmentation, and the initial features of each trajectory point are extracted. Each trajectory point consists of 14 initial features, constructing a multi-dimensional feature input space; In the feature extraction module of the present invention, statistical methods are designed to extract the motion and spatial distribution features of trajectory points from trajectory data. For a set of trajectory points , each GNSS point records , and are the longitude and latitude, is the timestamp, is the speed, is the direction, is the number of points on the trajectory.

[0053] Motion feature extraction: Agricultural machinery usually travels straight at a relatively high speed on roads, while during field operations, it turns frequently, adjusts its direction, and has a low speed and tends to be uniform. Therefore, motion features can effectively distinguish the behavior of agricultural machinery in the field and on the road. Based on the trajectory point records, nine motion features are constructed in this embodiment and are defined by formulas (7)-(12), where the speed and direction are directly derived from the point records.

[0054] (7) (8) (9) (10) (11) , (12) where, , , , , , , , and respectively represent the speed change, acceleration, direction change, angular velocity, angular acceleration, latitude change, longitude change, distance, and curvature of the th GNSS trajectory point; , , , and respectively represent the speed, timestamp, direction angle, latitude, and longitude of the th GNSS trajectory point; , , , , , and respectively represent the speed, timestamp, direction angle, angular velocity, latitude, longitude, and distance of the th GNSS trajectory point; represents the average radius of the Earth and = 6371000; represents the modulo operation, .

[0055] Spatial distribution feature: As Figure 8As shown on the left side, in this embodiment, a rectangular area is defined around the current GNSS point, with the width direction being consistent with the moving direction and the length direction being perpendicular to the moving direction.

[0056] As Figure 8 shown on the left side, field points are usually more densely distributed, while road points are relatively sparse. Within the rectangular area, the density feature is calculated by counting the number of GNSS points around the current point. The density of field points is usually higher than that of road points. The definition of the density feature is as follows: (13) Where is the number of GNSS points within the rectangular area centered at point , represents the rectangular area of point , is the number of GNSS points within the trajectory, is the indicator function that returns 1 when point is inside the rectangle and 0 otherwise.

[0057] Figure 8 The right side shows the difference in the direction angles between the current point and adjacent points within the rectangular area. Compared with road points, the difference in direction angles between field points is larger, and the fluctuation of the parallel relationship is more obvious. Within the rectangular area, the mean and standard deviation of the direction angle differences are calculated as the parallel relationship feature. The definition of the parallel relationship is as follows: (14) (15) Where and represent the mean and standard deviation of the direction angle differences of the current point respectively, represents other GNSS points within the rectangular frame, represents GNSS point and The distance between them. Since the distance between adjacent GNSS points is about 5 meters, the width of the rectangle is set to 20 meters and the length is set to 40 meters.

[0058] Continue to extract the distance feature based on the spatial distribution because the spacing of road points is usually greater than that of field points. For this purpose, this embodiment adopts a method combining short-term and long-term sliding windows: the short-term window is used to capture motion fluctuations such as acceleration or deceleration, and the long-term window is used to reflect the overall trend. Specifically, for each trajectory point, its corresponding distance within the window length is calculated with two sliding window lengths. In the present invention, the short-term window is set to 5 and the long-term window is set to 10 to effectively highlight the distance difference between road points and field points.

[0059] S4. Feature Optimization: Introduce the variational autoencoder (VAE) to extract latent features from the initial features, and obtain a more discriminative embedded feature representation through non-linear transformation. Subsequently, adopt the improved BiLSTM network - ResBiLSTM network for spatio-temporal modeling: on the one hand, utilize its bidirectional structure to fully capture the temporal dependence relationship, and on the other hand, optimize the information flow transmission of the network through the residual connection mechanism, effectively alleviating the vanishing gradient problem of deep networks.

[0060] Previous studies mainly used BiLSTM to directly process the initial features for field-road classification, ignoring the importance of latent space features, resulting in low classification accuracy. Compared with the initial features, latent space features can provide richer semantic information and more continuous data representation. Therefore, this embodiment uses the variational autoencoder (VAE) to enhance the representation ability of the initial features. Specifically, the proposed VE-ResBiLSTM network consists of three modules: the VAE encoder, the BiLSTM with a fusion residual structure, and a linear classifier.

[0061] VAE Encoder Module: The variational autoencoder (VAE) consists of an encoder and a decoder, and can learn the latent representation of data and generate new samples. In this invention, only the encoder is used, focusing on feature extraction rather than data reconstruction. The latent space of the VAE is a low-dimensional representation of the data, capturing the core features and latent structures, providing a compact and continuous embedding method, making similar data points close to each other in the latent space. As Figure 1 shown, the input features of the VAE have a dimension of 14, corresponding to the number of initial features of the feature extraction module. After the input features pass through the encoder, two independent vectors are output: the mean of the latent space distribution and the logarithm of the variance . They are defined as follows: (16) where I is the input of the VAE encoder, representing 14 initial features; represents the variance; Subsequently, the VAE encoder uses the reparameterization technique to sample the latent space. This mechanism enables the gradient to be backpropagated through random nodes. By reconstructing the parameters of the latent vector distribution, the network can better understand the global structure of the data. The reparameterization process is defined as follows: (17) where, represents the random noise sampled from the standard normal distribution, represents the encoded representation of the initial data in the latent space, represents the variance.

[0062] The reparameterization technique may amplify the gradient, especially when the standard deviation is small. To alleviate the problem of gradient explosion that may occur during VAE training, the present invention adopts a gradient clipping strategy, sets an upper limit for the gradient, and prevents it from exceeding a predefined threshold. Based on gradient distribution analysis and multiple training tests, this paper constructs a process of clipping to the range of [-2, 2], which is specifically defined as follows: (18) Among them, The function clips within the range of [-2, 2]. This function helps to maintain the stability of the gradient and reduce the impact of gradient explosion on model training.

[0063] After extracting the embedded features through VAE, these features are input into the BiLSTM to capture deep temporal relationships. Different from the standard LSTM that can only learn forward information, the BiLSTM can capture the information between trajectory points bidirectionally by dividing the hidden neurons into two parts: forward and backward propagation, and make full use of the forward and backward information. The BiLSTM network contains two LSTM modules, which are expressed as follows: (19) Among them, is the input feature vector of the th point in the BiLSTM, is the hidden state, is the hidden state of the (t - 1)th point; (20) (21) (22) Among them, captures the temporal relationship from past points and is the forward hidden state, then learns the temporal dependence from future points and is the backward hidden state. The forward and backward hidden states are concatenated to obtain .

[0064] Stacking multiple layers of networks in LSTM may lead to loss of feature information and gradient problems, affecting network training. Adding residual connections can enable the deep network to retain low-level features, capture high-level temporal features at the same time, provide a shorter transmission path for the gradient, alleviate the gradient problem, and accelerate network convergence. Therefore, the present invention adds a residual structure to the BiLSTM, adds the output of the current point to the original input, and defines it as follows: (23) Among them, is the input of the This is the state after adding the residual. The residual connection is located after the output of each layer of LSTM. That is, after each layer of LSTM processes the sequence, its output is added to the residual feature to obtain a new feature, which is input into the next layer of LSTM.

[0065] S5. Finally, the deep features extracted by the ResBiLSTM network are input into the fully connected layer for class mapping. Subsequently, the Sigmoid function is used to calculate the probability distributions of the field and road categories, and the model selects the category with the highest probability as the classification result, outputting the classification result of each trajectory point, thereby realizing the intelligent recognition of agricultural machinery operation behaviors.

[0066] Experimental example The method of the present invention proposes an innovative deep neural network framework, the DBSCAN-VE-ResBiLSTM model, which integrates data augmentation, spatial distribution feature extraction, and deep spatio-temporal representation learning for field-road classification. Experimental results show that this model has significant advantages in classification performance: Model training is based on the PyTorch framework and is carried out in the NVIDIA A100 GPU environment. The wheat dataset is randomly divided into three subsets: 80% for training, 10% for validation, and 10% for testing. Referring to previous studies, 10-fold cross-validation is used for model evaluation. During the model training stage, =0.027, =3, the maximum number of training epochs is set to 400, the optimizer uses AdamW, the learning rate is 0.0005, and the weight decay is 0.00001. In addition, the focal loss FL is used to train the model, and the sample weight is 0.25, is an adjustable parameter, set to 2, to make the model pay more attention to difficult-to-classify samples, so as to improve the accuracy of difficult-to-predict points. Subsequently, L2 regularization RT is introduced into the focal loss to prevent the model from overfitting on the training data, and the total loss TL is defined as follows: (24) (25) (26) Among them, represents the predicted probability of the true label of the model, represents the regularization of the model parameters regularization, as the regularization coefficient, by default is set to 0.00001.

[0067] After every 10 epochs of training, the best hyperparameters of the model are evaluated using the validation data and saved. An early stopping mechanism is introduced. When the performance metrics on the validation set do not improve for 10 consecutive epochs, the training automatically terminates to prevent overfitting.

[0068] In the model validation stage, the optimal model obtained from training is used to predict the test dataset, and the classification results of each trajectory point, that is, the field or road category, are output. To comprehensively evaluate the model performance, four standard evaluation metrics are selected in the present invention: Precision (Pre), Recall (Rec), F1-score (F1), and Accuracy (Acc). The calculation of these metrics is based on the four basic elements of the confusion matrix: True Positive (TP), True Negative (TN), False Positive (FP), and False Negative (FN). Specifically, Precision reflects the accuracy of the model in predicting positive class samples, and Recall measures the completeness of the model in identifying positive class samples. The F1-score, as the harmonic mean of Precision and Recall, can comprehensively evaluate the classification performance of the model; Accuracy directly reflects the correct rate of the overall prediction of the model. To ensure the statistical significance of the experimental results, a ten-fold cross-validation method is adopted in this study, and the average performance metrics of ten independent experiments are finally reported. The calculation formulas of each metric are defined as follows: (27) (28) (29) (30) Here, "field" points are regarded as "P (Positive, positive example)", and "road" points are regarded as "N (Negative, negative example)". Therefore, TP represents the field points correctly classified as "field"; TN represents the road points correctly classified as "road"; FP represents the road points misclassified as "field"; FN represents the field points misclassified as "road".

[0069] To prove the effectiveness of the invention, the proposed method DBSCAN-VE-ResBiLSTM is evaluated against four existing field-road pattern classification methods, including DBSCAN + Rules, Decision Tree (DT), Graph Convolutional Network (GCN), and STF+VFAU+BiLSTM. The experimental results of the five methods are shown in Table 1. The field-road classification method DBSCAN-VE-ResBiLSTM proposed in the present invention achieves the best results in all four evaluation metrics. Specifically, on the wheat dataset, the method DBSCAN-VE-ResBiLSTM of the present invention obtains an accuracy of 99.09% and an F1-score of 98.61%, which are 8.16% and 15.03% higher than the best baseline STF+VFAU+BiLSTM, respectively. These results fully confirm the outstanding effectiveness of the invention in field-road classification.

[0070] Table 1 Overall performance of various methods on the wheat dataset

[0071] The present invention proposes a solution to the problems existing in the field-road classification task. First, by introducing the DBSCAN-guided data augmentation technology, the problem of unbalanced class distribution commonly existing in the trajectory dataset is effectively alleviated, the misclassification rate of road points is significantly reduced, and thus the overall classification accuracy is improved. Second, based on the essential feature of the spatio-temporal continuity of the trajectory data, the spatial distribution feature and the motion feature are fused to construct a more discriminative multi-dimensional feature representation system. In terms of the model architecture design, the present invention organically combines the residual connection mechanism, the bidirectional long short-term memory network BiLSTM and the variational autoencoder VAE. This multi-module collaborative deep spatio-temporal modeling method significantly improves the feature expression ability, effectively prevents information loss, and finally achieves a more accurate field-road classification effect.

[0072] Obviously, the above embodiments of the present invention are only examples for clearly illustrating the technical solutions of the present invention, rather than limitations on the specific implementation manners of the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the claims of the present invention shall be included within the protection scope of the claims of the present invention.

Claims

1. The agricultural machinery behavior recognition method integrating interpolation enhancement and deep spatiotemporal feature modeling is characterized by: The method comprises: S1, obtaining GNSS trajectory data of agricultural machinery and preprocessing the trajectory data; S2, data enhancement: A local interpolation method based on DBSCAN clustering is used to enhance the road points in the preprocessed trajectory dataset; S3. Feature extraction: Design a set of spatial distribution feature extraction methods to quantitatively analyze the spatial attributes of trajectory points, such as density characteristics, parallel relationships, and distance relationships; By combining motion feature extraction and spatial distribution feature extraction, the feature extraction of the trajectory data after data enhancement is performed to extract the initial features of each trajectory point. Each trajectory point consists of 14 initial features, and a multi-dimensional feature input space is constructed. S4, Feature Optimization: Variational Autoencoder (VAE) is introduced to extract potential features from the initial features, and a more discriminative embedded feature representation is obtained through nonlinear transformation. Subsequently, the improved BiLSTM network - ResBiLSTM network is used for spatiotemporal modeling: on the one hand, its bidirectional structure is used to fully capture the temporal dependency, and on the other hand, the residual connection mechanism is used to optimize the information flow transmission of the network. S5. Finally, the deep features extracted by the ResBiLSTM network are input into the fully connected layer for category mapping. Subsequently, the Sigmoid function is used to calculate the probability distribution of field and road categories, and the category with the highest probability is selected as the classification result, thereby realizing intelligent recognition of agricultural machinery operation behavior.

2. The agricultural machinery behavior recognition method integrating interpolation enhancement and deep spatiotemporal feature modeling according to claim 1 is characterized in that: The step S1 of acquiring the GNSS data of the agricultural machinery refers to: The collected GNSS trajectory data of agricultural machinery, where each GNSS trajectory point is marked as "1" field and "0" road category. A trajectory can be represented as: （1） in, represents a trajectory, represents the trajectory points that make up the trajectory, Representation trajectory The number of trajectory points on ; The preprocessing of trajectory data refers to: 1.1 Remove duplicate values: remove consecutive duplicate track points with the same longitude and latitude coordinates; 1.2 Remove drift points: Detect deviation points by calculating the speed and direction differences between adjacent points, smooth the calculated difference data, and use the exponential weighted average method to eliminate the influence of drift points; at the same time, set a threshold. When the difference value exceeds the threshold, these points are marked as drift points and removed from the trajectory data; 1.3 Smoothing noise points: The Savitzky-Golay smoothing filter is used to optimize the trajectory data after removing duplicate values ​​and drift points. The filter is based on the principle of local polynomial least squares fitting and achieves data optimization through the following processing flow: first, low-order polynomial fitting is performed on the latitude and longitude coordinates of the trajectory points in the preset sliding window; then, the original observation value of the center point of the window is replaced by the fitted calculated value; finally, the iterative processing of the entire trajectory is completed by sliding the window.

3. The agricultural machinery behavior recognition method integrating interpolation enhancement and deep spatiotemporal feature modeling according to claim 1 is characterized in that: In step S2, the specific steps of data enhancement are as follows: According to the spatial distribution characteristics of agricultural machinery trajectory data and domain knowledge, the neighborhood radius is preliminarily determined. Value: Use K-Distance Graph method to calculate the distance from each road point to the Kth nearest neighbor, draw a distance sorting graph, and find the "inflection point" of the sudden increase. The distance corresponding to the inflection point is the neighborhood radius Candidate values ​​of According to the initially determined neighborhood radius The values ​​of are clustered, and the visual evaluation results of field points and road points are used to ensure that the points on the same road section are clustered into one cluster, and the points on different road sections belong to different clusters; Linear interpolation is performed for each cluster individually, ensuring that the interpolation points are only within a range that is geographically close and structurally similar.

4. The agricultural machinery behavior recognition method integrating interpolation enhancement and deep spatiotemporal feature modeling according to claim 3 is characterized in that: The linear interpolation for each cluster is performed separately as follows: First, the road points in each cluster are sorted by timestamp; Then, check the waypoints Its adjacent road points The distance between Is it less than the threshold? , if it is greater than the threshold, it is skipped to ensure the rationality of the space of the interpolation points: （2） Further inspection of these two waypoints and Are the directions consistent, that is, the direction angle difference Whether the following formula is satisfied to ensure that the interpolation point does not deviate from the driving direction of the road point: （3） or （4） in, Indicates waypoint The direction angle, Indicates waypoint The direction angle, is the maximum allowed angular difference; Finally, linear interpolation is performed on road points that meet both distance and direction conditions. The interpolation formula is defined as follows: （5） （6） in, is the interpolation point, is the interpolation interval, is the number of interpolation points; calculate the distances between all road points and their nearest neighbor points in the preprocessed data set, and find the average of these distances as The value of .

5. The agricultural machinery behavior recognition method integrating interpolation enhancement and deep spatiotemporal feature modeling according to claim 1 is characterized in that: The motion feature extraction in step S3 includes nine motion features, which are defined by formulas (7)-(12). , and is the latitude and longitude, is the timestamp, For speed, For direction, , where the speed and direction are derived directly from the point records: （7） （8） （9） （10） （11） , （12） in, , , , , , , , and Respectively represent Velocity change, acceleration, direction change, angular velocity, angular acceleration, latitude change, longitude change, distance and curvature of each GNSS trajectory point; , , , and Respectively represent Speed, timestamp, bearing angle, latitude and longitude of each GNSS track point; , , , , , and Respectively represent Speed, timestamp, direction, angular velocity, latitude, longitude and distance of each GNSS track point; represents the mean radius of the Earth and =6371000; represents the modulo operation, .

6. The agricultural machinery behavior recognition method integrating interpolation enhancement and deep spatiotemporal feature modeling according to claim 1 is characterized in that: The spatial distribution feature extraction in step S3 is specifically as follows: Define a rectangular area around the current track point, with the width direction consistent with the moving direction and the length direction perpendicular to the moving direction; in the rectangular area, calculate the number of track points around the current track point as its density feature, The density of field points is usually higher than that of road points. The definition of density feature is as follows: （13） in, For point The number of trajectory points in the rectangular area centered on Indicate point The rectangular area of is the number of trajectory points in the trajectory, is the indicator function, when point Returns 1 if it is within the rectangle, otherwise returns 0; In the rectangular area, the mean and standard deviation of the direction angle difference are calculated as the parallel relationship feature. The definition of the parallel relationship is as follows: （14） （15） in, and Respectively represent the current point The mean and standard deviation of the direction angle difference, Represents other trajectory points within the rectangular box, Represents trajectory points and The angle difference between For point The number of trajectory points in the rectangular area centered on Indicate point The rectangular area of ​​? To extract distance features based on spatial distribution, a method combining short-term and long-term sliding windows is adopted: the short-term window is used to capture motion fluctuations, and the long-term window is used to reflect the overall trend; specifically, for each trajectory point, the distance within the corresponding window length is calculated using two sliding window lengths.

7. The agricultural machinery behavior recognition method integrating interpolation enhancement and deep spatiotemporal feature modeling according to claim 1 is characterized in that: In step S4, the introduction of variational autoencoder VAE extracts potential features from the initial features, and obtains a more discriminative embedded feature representation through nonlinear transformation as follows: The 14 initial features extracted in the feature extraction stage As the input of the VAE encoder, after the input features pass through the VAE encoder, the output generates two independent vectors: the mean of the latent space distribution and logarithm of variance , defined as follows: （16） Among them, I is the input of the encoder VAE, representing 14 initial features; represents variance; The VAE encoder then samples the latent space using a reparameterization technique, which is defined as follows: （17） in, represents random noise sampled from a standard normal distribution, represents the encoding representation of the initial data in the latent space, represents variance; Adopt the gradient clipping strategy to set the upper limit of the gradient to prevent it from exceeding the predefined threshold. Specifically, construct a The process of clipping to the range [-2,2] is defined as follows: （18） in, The function will Constrained to the range [-2,2].

8. The agricultural machinery behavior recognition method integrating interpolation enhancement and deep spatiotemporal feature modeling according to claim 1 is characterized in that: In step S4, the improved BiLSTM network-ResBiLSTM network is used for spatiotemporal modeling, as follows: After extracting the embedded features through VAE, these features are input into BiLSTM to capture the deep temporal relationship; the BiLSTM network contains two LSTM modules, which are described as follows: （19） in, It is the first The input feature vector of points, is the hidden state, is the hidden state of the t-1th point; （20） （21） （22） in, Capturing temporal relationships from past points as the forward hidden state, Then learn the time dependency from the future point, which is the backward hidden state, and connect the forward and backward hidden states to get ; Add a residual structure to BiLSTM and add the output of the current point to the original input, which is defined as follows: （23） in, is the input of the t-th point in BiLSTM, It is the state after adding the residual. The residual connection is located after the output of each layer of LSTM. That is, after each layer of LSTM processes the sequence, its output is added to the residual feature to obtain a new feature input to the next layer of LSTM.

Images