Agricultural machine operation quality monitoring system and method based on RTK high-precision positioning

Abstract

The present application belongs to the field of agricultural mechanization and precision agriculture technology, and particularly relates to a farm machine operation quality monitoring system and method based on RTK high-precision positioning, which comprises a separated monitoring device arranged outside the agricultural machine, a cloud platform and a user terminal. The separated monitoring device comprises an RTK positioning module, a multi-protocol CAN port module, a data buffer module and a wireless communication module, and realizes independent collection and real-time uploading of centimeter-level operation track and farm tool operation parameters. The cloud platform has functions of row distance dynamic analysis, speed compliance evaluation, operation coverage analysis and multi-source fusion evaluation, and can generate operation heat maps and comprehensive quality evaluation reports. The user terminal is used for visual display and cost accounting during operation. The system can realize data neutrality, quality traceability and operation collaborative scheduling during the whole process of agricultural machine operation, significantly improves operation efficiency and management transparency, and is suitable for large-scale agricultural production and socialized agricultural machine service quality supervision scenarios.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of agricultural mechanization and precision agriculture technology, in particular to a farm work quality monitoring system and method based on RTK (Real-Time Kinematic) high-precision positioning technology, which is particularly suitable for third-party work quality supervision and evaluation in the context of socialized farm service leasing. BACKGROUND

[0002] With the continuous advancement of China's agricultural modernization process, land transfer and large-scale operation have become the key path to improve agricultural production efficiency and product quality. With the increasing concentration of land, new subjects such as family farms, farmer professional cooperatives and agricultural enterprises have significantly increased their dependence on agricultural mechanization in the process of building large-scale agricultural production and operation systems, and farm service has become increasingly important in agricultural production.

[0003] However, due to cost control considerations, most large-scale operators prefer to obtain work capacity through farm equipment rental, and more than 70% of planters rely on social services to provide farm work. Under this background, farm work quality has become an important factor affecting agricultural production efficiency and crop yield. Planters generally demand higher work precision, such as a row spacing error of no more than 5 cm, a track coverage rate of greater than or equal to 95%, and a work speed that meets high-quality work specifications. However, in order to pursue work efficiency and reduce costs, service providers often use methods such as speeding up and reducing processes in actual work, making it difficult to guarantee work quality, and quality disputes have been rising year by year, with an annual growth rate of more than 20%.

[0004] More importantly, due to the lack of objective, unified and traceable data collection and quality evaluation system, there are problems such as data opacity, difficulty in defining responsibility, and difficulty in real-time supervision of work behavior in farm work services. According to research, more than 68% of work quality disputes are related to data loss or inconsistency, and repeated work and missed planting problems occur frequently, resulting in a decrease in farm equipment utilization of more than 30%, directly affecting agricultural production efficiency.

[0005] The mainstream technology in the current field of farm work monitoring is mainly focused on the collection and recording of work trajectories, mainly for service providers to manage work progress and plan paths, and lacks a quality evaluation and supervision mechanism for planters or third-party regulators. The existing technical solutions have the following three core defects:

[0006] First, data collection is controlled by service providers, which poses a risk of data monopoly and tampering;

[0007] Second, the work evaluation dimension is single, mainly focusing on path recording, and not comprehensively analyzing key quality indicators such as trajectory precision, work speed, row spacing stability and missed planting rate;

[0008] Thirdly, the lack of open data interface and multi-terminal sharing mechanism cannot support real-time visualization, dynamic adjustment and decision support of the planting party and the regulatory party on the operation process, affecting the operation efficiency and the fairness of service cost management.

[0009] Agricultural machinery operation control method and device and computer readable storage medium are disclosed in Chinese patent CN108562294A. The method uses pseudo-range difference algorithm to monitor the operation trajectory, speed and operation area of agricultural machinery, and generates adjustment scheme based on the comparison between operation trajectory and preset path, and sends it to terminal device. This scheme optimizes operation path planning through positioning information, and has certain operation monitoring and state adjustment capability. However, the design focus of this technology is to improve the operation control capability of agricultural machinery, mainly aiming at automatic driving and operation optimization of agricultural machinery equipment, without considering the data independence problem, lacking support for third-party regulatory needs outside the service party, unable to provide independent, objective and traceable operation quality data for the planting party, without building quality evaluation model for service fee management, and without realizing operation process visualization and real-time identification of abnormal area. Chinese patent CN118706489A discloses a method and device for determining the operation quality of agricultural vehicles. The technology obtains real-time data of agricultural vehicle attitude sensor, filters and judges whether the actual operation depth, operation area and other indicators are within the preset range, so as to evaluate the operation quality. Although this technology realizes quality evaluation at vehicle level, it mainly relies on vehicle sensor data, with low evaluation granularity and precision.

[0010] In summary, the existing agricultural machinery operation monitoring technology has certain foundation in the control and scheduling of agricultural service party, but in the independent regulatory scenario of planting party or third party, there are still obvious technical gaps and application gaps. The main problems include: first, the application scene is misplaced, the data ownership is unclear, and there is a lack of neutral data collection means, which makes it difficult to support third-party evaluation; second, the lack of quality evaluation system, the lack of objective evaluation model method based on operation track data, which leads to the inability to fully and accurately evaluate the operation quality of agricultural machinery.

[0011] Therefore, how to build an agricultural machinery operation monitoring system with data neutrality, multi-dimensional quality evaluation, operation visualization and quality traceability has become a key technical problem to be solved in the field of precision agriculture and socialized agricultural machinery service. SUMMARY

[0012] The application aims to solve the problems in the current agricultural social service, such as the difficulty in real-time monitoring of the quality of agricultural machinery operation, the non-transparency of data, the lack of evaluation standards and the difficulty in defining responsibilities, especially under the background of the strengthening of operation outsourcing trend and large-scale farming, the contradiction that the planting party puts forward higher requirements for operation quality but lacks objective evaluation tools. The application discloses an agricultural machinery operation quality monitoring system and method based on RTK high-precision positioning, collects operation data through a physically independent separated device, combines cloud trajectory analysis, speed judgment, multi-source fusion and quality scoring modules, and constructs a full-process quality monitoring system that is data-neutral, process-visible and result-traceable, thereby effectively improving the transparency, fairness and efficiency of agricultural machinery operation management.

[0013] The application provides an agricultural machinery operation quality monitoring system based on RTK high-precision positioning, which comprises:

[0014] The separated monitoring device is arranged outside the agricultural machinery and is physically isolated from the original control system, and comprises an RTK positioning module, a multi-protocol CAN port module, a data buffering module and a wireless communication module. The RTK positioning module is used for collecting centimeter-level positioning data. The multi-protocol CAN port module is used for receiving operation parameters of an open port of an agricultural implement. The data buffering module is used for temporarily storing the positioning data and the operation parameters and uploading them at a set time interval. The wireless communication module uploads the collected data to the cloud based on 4G / 5G communication technology.

[0015] The cloud platform is in communication connection with the separated monitoring device and comprises a row spacing dynamic analysis unit and a speed compliance evaluation unit, and is used for performing row spacing dynamic analysis and speed compliance evaluation. The row spacing dynamic analysis unit generates a row spacing deviation index based on linear fitting and distance calculation of a continuous positioning point sequence. The speed compliance evaluation unit is used for calculating the operation speed of the agricultural machinery and identifying the turning state to judge whether the speed is compliant.

[0016] The user terminal is connected with the cloud platform and is used for displaying an operation heat map and a quality report.

[0017] When the cloud platform identifies that there is a case that the row spacing fluctuation of a continuous trajectory section in the operation trajectory is greater than a row spacing preset threshold value or the operation speed in a non-turning area continuously exceeds a speed preset threshold value, the system automatically marks the abnormal area and triggers an alarm to remind the operation personnel.

[0018] In a preferable example of the application, the RTK positioning module adopts a Beidou / GPS satellite system for differential positioning, the update frequency of the positioning data is not less than 1 Hz, and the positioning accuracy is better than 2 cm.

[0019] In a preferred example of the present application, the cloud platform further comprises a job progress and coverage analysis unit and a multi-source fusion evaluation engine, wherein the job progress and coverage analysis unit is configured to draw a job process map based on the collected positioning data and job parameters and evaluate the missed and repeated broadcasting in the job area, and the multi-source fusion evaluation engine is configured to perform fusion analysis on the RTK positioning data and the agricultural machine job parameters to generate a comprehensive quality evaluation result including job accuracy, job parameter compliance and overall job effect.

[0020] In a preferred example of the present application, the cloud platform further comprises a service quality scoring module configured to quantitatively score the agricultural machine job quality according to the comprehensive quality evaluation results of the row spacing dynamic analysis unit, the speed compliance evaluation unit and the multi-source fusion evaluation engine, and generate a comprehensive job quality evaluation report, and the user terminal can perform job cost accounting and management according to the comprehensive job quality evaluation report.

[0021] In a preferred example of the present application, the separated monitoring device further comprises a waterproof and dustproof shell with a protection level not lower than IP67, which is configured to encapsulate and protect the internal RTK positioning module, multi-protocol CAN port module, data buffer module and wireless communication module.

[0022] The present application also discloses an agricultural machine job quality monitoring method based on RTK high-precision positioning, which is used for the agricultural machine job quality monitoring system based on RTK high-precision positioning as described above, and comprises the following steps:

[0023] S1, collecting RTK high-precision positioning data and agricultural implement job parameters in the job process through a separated device installed on the agricultural machine, and uploading to the cloud platform through a wireless network;

[0024] S2, performing linear fitting on the RTK positioning point sequence by the cloud platform to generate an agricultural machine job reference trajectory, and calculating a row spacing deviation value;

[0025] S3, calculating the instantaneous job speed of the agricultural machine according to the displacement and time interval between the continuous positioning points, and judging whether it is in a turning state through the change rate of the heading angle, and if not, judging whether the speed is compliant;

[0026] S4, evaluating the job area, the repeated broadcasting rate, the missed broadcasting rate and the job consistency based on the job reference trajectory and the agricultural implement job parameters, and generating a visual job heat map;

[0027] S5, constructing a job quality evaluation model based on the fusion analysis result of the RTK positioning data and the job parameters by the cloud platform, and generating a comprehensive job quality evaluation report for job management and cost accounting and sending to the user terminal for display.

[0028] In a preferred example of the present application, in step S2, it includes:

[0029] S21: Piecewise linear fitting is performed on the continuous RTK positioning point sequence to generate a reference trajectory;

[0030] S22: The perpendicular distance between adjacent fitting line segments is calculated, and the calculation formula is as follows:

[0031]

[0032] Wherein is the reference line equation, , is the coordinate of the comparison point;

[0033] S23: Calculate the row spacing deviation , wherein is the preset theoretical row spacing, which is configured according to the crop type.

[0034] In a preferred example of the present application, in step S3, it includes:

[0035] S31: Calculate the instantaneous working speed based on the continuous positioning data of the agricultural machine, and the calculation formula is as follows:

[0036]

[0037] Wherein, is the Haversine distance between the continuous positioning points, is the time difference, in seconds, , The calculation formula of , is the average latitude, is the radius of the earth, is the latitude difference, is the longitude difference;

[0038] S32: Obtain the standard deviation of the continuous heading angle change rate of the agricultural machine , and the calculation formula is as follows:

[0039]

[0040] Wherein, is the number of data points used for calculation, is the index variable of summation, is the heading angle change amount in the th time interval, is the average value of all ;

[0041] When When the turning angle is greater than a preset threshold, it is determined that the agricultural machine is in a turning state, and the execution of the low-speed alarm logic is paused.

[0042] In a preferred example of the present application, in step S3, in the non-turning state, the instantaneous speed of the agricultural machine is compared with a preset speed threshold, and when the speed exceeds the upper threshold or is lower than the lower threshold, an overspeed alarm or a low-speed alarm is triggered respectively.

[0043] In a preferred example of the present application, the agricultural machine operation quality monitoring method based on RTK high-precision positioning supports real-time supervision and dynamic scheduling of multiple agricultural machines working together, generates an operation heat map and identifies operation efficiency differences by synchronously collecting the operation progress and positioning data of each agricultural machine, and automatically recommends operation scheduling based on preset rules.

[0044] Compared with the prior art, the agricultural machine operation quality monitoring system and method based on RTK high-precision positioning has the following advantages:

[0045] 1. The present application realizes a completely isolated operation data acquisition method from the original control system of the agricultural machine by deploying a separate monitoring device with independent acquisition capability. The device integrates an RTK high-precision positioning module and a multi-protocol CAN interface module, can simultaneously acquire centimeter-level trajectory data and operation parameter information, and uploads them to the cloud platform in real time through a wireless network, avoiding the data monopoly and modification risks caused by service control data, and ensuring the independence and credibility of the data from the source. The cloud platform calculates the row spacing deviation based on the linear fitting of consecutive positioning points, and identifies whether the operation speed is compliant in combination with the speed change and turning judgment logic. The entire process can complete intelligent identification and marking of abnormal data without manual intervention, thereby forming a highly automated and data-neutral agricultural machine operation quality acquisition and identification mechanism, effectively solving the industry pain points of information asymmetry, lack of trust foundation and frequent quality disputes in current socialized agricultural machine operation.

[0046] 2. The present application constructs a cloud quality analysis platform with multi-dimensional operation evaluation capability. The system can not only make basic quality judgments through trajectory deviation and speed compliance, but also realize complete modeling of the operation process by integrating positioning information and operation parameters. The platform introduces operation progress and coverage rate analysis modules to evaluate the re-broadcast rate, missed broadcast rate and operation consistency in the operation area, and introduces a multi-source fusion evaluation engine to uniformly model different dimensional data, forming a comprehensive evaluation model of operation accuracy, compliance and integrity. Through the service quality scoring module, the multi-dimensional quality indicators are quantified into a unified score value, providing clear, intuitive and traceable quality analysis basis for planting parties, regulatory departments and third-party evaluation agencies

[0047] 3.The system architecture of the application supports dynamic monitoring and scheduling management of multiple agricultural machines working cooperatively, the cloud platform can receive data uploaded by different machines in real time, and build a global work heat map for displaying the current work state and efficiency difference of each machine, based on the horizontal comparison of indexes such as work trajectory density, speed stability and coverage rate, the system can intelligently generate scheduling suggestions according to preset rules to optimize work layout, avoid repeated work and resource idling, at the same time, the user terminal can view work quality report and abnormal area distribution in real time, which is convenient for planting party to intervene in time and evaluate service performance, finally through building a complete work management closed loop, realizing the leap-forward improvement of agricultural machine work from single machine monitoring to group cooperation, from passive acceptance to active scheduling, significantly improving the organization level and management efficiency of agricultural production, and providing intelligent infrastructure support for high-quality and sustainable agricultural production. BRIEF DESCRIPTION OF DRAWINGS

[0048] Fig. 1 a block diagram of the agricultural machine work quality monitoring system based on RTK high-precision positioning according to the embodiment of the application;

[0049] Fig. 2 is a logic diagram of the agricultural machine work quality monitoring method based on RTK high-precision positioning according to the embodiment of the application. DETAILED DESCRIPTION

[0050] The technical solutions in the embodiments of the application will be clearly described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art belong to the scope of protection of the application.

[0051] It should be noted that all directional and positional indications in the application, such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "inner", "outer", "top", "low", "transverse", "longitudinal", "center", etc., are only used to explain the relative positional relationship, connection condition, etc. between components in a certain state (as shown in the drawings), and are only for the convenience of describing the application, and cannot be understood as a requirement for the application to be constructed and operated in a particular orientation. Therefore, it cannot be understood as a limitation on the application. In addition, the description of "first", "second", etc. in the application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features.

[0052] In the description of the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "linking" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection; it can be direct connection, or indirect connection through intermediate medium, or internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0053] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the exemplary description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0054] The existing agricultural machinery operation monitoring technology is not capable of dealing with many problems in the current large-scale agricultural production under the mode of agricultural machinery leasing service. Data monopoly, one-sided evaluation, single function, application scene misplacement and lack of evaluation system seriously restrict the improvement of agricultural machinery operation quality and the further improvement of agricultural production efficiency. Based on such industrial pain points, the present application proposes to develop an agricultural machinery operation quality monitoring system and method based on RTK high-precision positioning. Through the innovative "separable hardware architecture + cloud multi-source fusion algorithm" third-party monitoring system, the problems existing in the prior art are solved, and a new solution for agricultural machinery operation quality monitoring is provided.

[0055] Specifically, as shown in Figs. 1-2 The present application discloses an agricultural machinery operation quality monitoring system based on RTK high-precision positioning, which comprises:

[0056] The separable monitoring device is arranged outside the agricultural machinery and is physically isolated from the original control system, and comprises an RTK positioning module, a multi-protocol CAN port module, a data buffering module and a wireless communication module. The RTK positioning module is used for collecting centimeter-level positioning data. The multi-protocol CAN port module is used for receiving operation parameters of an open port of an agricultural implement. The data buffering module is used for temporarily storing the positioning data and the operation parameters, and uploading them at a set time interval. The wireless communication module uploads the collected data to the cloud based on 4G / 5G communication technology.

[0057] The cloud platform, in communication connection with the separated monitoring device, comprises a row spacing dynamic analysis unit and a speed compliance evaluation unit for performing row spacing dynamic analysis and speed compliance evaluation, wherein the row spacing dynamic analysis unit generates a row spacing deviation index based on linear fitting and distance calculation of a continuous positioning point sequence, and the speed compliance evaluation unit is used to calculate the working speed of the agricultural machine and identify the turning state to determine whether the speed is compliant;

[0058] The user terminal, in connection with the cloud platform, is used to display the operation heat map and the quality report.

[0059] When the cloud platform identifies that there is a situation that the row spacing fluctuation of the continuous trajectory segment in the operation trajectory is greater than the row spacing preset threshold or the operation speed in the non-turning area continuously exceeds the speed preset threshold, the system automatically marks the abnormal area and triggers an alarm to remind the operator.

[0060] The application provides a high-precision positioning-based agricultural machine operation quality monitoring system, which comprises a separate monitoring device arranged outside the agricultural machine and independent of the original control system, a cloud platform and a user terminal connected to the cloud platform, wherein the separate monitoring device integrates an RTK positioning module, a multi-protocol CAN port module, a data buffer module and a wireless communication module, the RTK module can collect centimeter-level trajectory data of the agricultural machine in the operation process in real time, the multi-protocol CAN port module is adapted to agricultural machine interfaces such as ISO11783 and J1939, and is used for receiving real-time operation parameters transmitted by an open port of an agricultural implement, including operation depth, width, operation state and other information, the data buffer module temporarily saves all collected data to prevent data loss caused by unstable network, and the data is transmitted to the cloud platform through a 4G or 5G network by the wireless communication module at a set time interval, the cloud platform is provided with a row spacing dynamic analysis unit and a speed compliance evaluation unit, the row spacing analysis unit can calculate the vertical distance between adjacent operation tracks based on the linear fitting result of continuous positioning points and compare the vertical distance with a preset theoretical row spacing to identify the deviation degree of the actual row spacing, the speed evaluation unit calculates the current instantaneous speed of the agricultural machine according to the displacement between the positioning points and the time interval, and judges whether the agricultural machine is in a turning state through the change rate of the heading angle to avoid misjudgment, compares the speed value with a set threshold value to determine whether the speed is compliant in a non-turning state, the analysis result is synchronized to the user terminal after cloud processing and is presented to the user in the form of operation heat maps and detailed quality reports, when the system identifies that the row spacing fluctuation of a continuous trajectory section exceeds a preset threshold value or the speed continuously exceeds the limit in a non-turning state (for example, the speed is abnormal for 10s), the system can automatically mark the operation section as an abnormal area, and the abnormal information is visualized and presented to the user through the user terminal in the form of a heat map, and the on-site personnel are reminded through an alarm function, so that timely feedback and early warning management of abnormal behaviors in operation are realized, the terminal supports a multi-role access mechanism, different identity users can view all or part of the data content based on permissions and make scheduling, control or economic settlement decisions accordingly, so that real-time supervision and traceable management of the whole operation process are realized.

[0061] The RTK high-precision positioning-based agricultural machinery operation quality monitoring system described in the application avoids the risk that data in traditional systems is easily controlled or modified by equipment manufacturers by arranging the data acquisition device independently of the agricultural machinery body, ensuring the objectivity and neutrality of operation quality evaluation data, adopts an RTK centimeter-level positioning and CAN interface parameter synchronous acquisition scheme, realizes double recording of spatial trajectory and operation behavior, and makes the system highly accurate in identifying operation precision problems such as row spacing fluctuation and operation speed out of control, can effectively exclude misjudgments caused by natural path changes through linear fitting and turning identification technology of trajectory data on a cloud platform, and identify real overspeed problems in non-turning sections, in combination with a row spacing deviation identification algorithm, can accurately judge abnormal segments in field management or precision planting and other applications with high requirements for row spacing, realize early warning of uneven seeding, missed seeding and other problems, at the same time, the alarm system and the operation personnel terminal feedback can send reminders in time to avoid the problem from being enlarged, and finally the operation quality is visualized through a heat map, which significantly improves the intuitiveness and response efficiency of user operation quality management, in addition, the abnormal marking and quality report generated by the system can also provide objective operation evaluation basis for farmers and agricultural machinery service providers, and provide quantitative support for operation cost settlement, contract performance management and other aspects, and finally realize the goal of improving agricultural machinery operation quality, reducing quality disputes, and improving agricultural production efficiency and precision, the system as a whole has the advantages of neutral data collection, whole-process analysis, terminal display and third-party supervision support, and optimizes operation management and service supervision of large-scale agricultural operation subjects.

[0062] As a preferred example of the application, the RTK positioning module adopts a Beidou / GPS satellite system for differential positioning, and the update frequency of positioning data is not less than 1Hz, and the positioning accuracy is better than 2cm. In the example of the application, the RTK positioning module constructs a high-precision positioning scheme based on the Beidou or GPS satellite system, and adopts a high-frequency positioning data update mechanism, so that the agricultural machinery operation quality monitoring system has higher accuracy and stronger real-time performance in obtaining spatial position information, and the centimeter-level positioning accuracy can effectively reduce problems such as row spacing misjudgment and speed deviation calculation error caused by positioning deviation, especially in the operation scene of precision seeding, deep plowing and other operation scenes with high requirements for trajectory accuracy, the scheme can ensure the integrity and accuracy of spatial information in the operation process, and provide a high-quality data basis for subsequent row spacing analysis, trajectory playback, turning behavior identification and other modules, in addition, the update frequency higher than 1Hz can ensure that the operation trajectory is presented without breakpoints, even under the condition that the agricultural machinery frequently switches between turning, acceleration, deceleration or short-time parking, the system can still accurately judge its operation state, effectively reduce the risk of missed judgment and misjudgment, provide a stable spatial support basis for precision agriculture, and promote the development of agricultural machinery operation from extensive management to high precision, high quality and intelligentization.

[0063] As a preferred example of the present application, the cloud platform further comprises a job progress and coverage analysis unit and a multi-source fusion evaluation engine, wherein the job progress and coverage analysis unit is used to draw a job process map based on the collected positioning data and job parameters and evaluate the missed and repeated broadcasting situations in the job area, and the multi-source fusion evaluation engine is used to fuse and analyze the RTK positioning data and the agricultural machine job parameters to generate a comprehensive quality evaluation result including job accuracy, job parameter compliance and overall job effect.

[0064] On the basis of the above-mentioned agricultural machine job quality monitoring system, the function structure of the cloud platform is further optimized, and a job progress and coverage analysis unit and a multi-source fusion evaluation engine are newly added. The job progress and coverage analysis unit is used to generate a job process map in real time and evaluate the missed and repeated broadcasting areas in the job area based on the high-precision RTK positioning data and agricultural machine job parameters uploaded by the separated monitoring device. The drawing result can realize trajectory visualization, coverage analysis and missing area marking by comparing the preset plot boundary. The multi-source fusion evaluation engine performs fusion processing on multi-dimensional parameters such as positioning trajectory, job depth and job speed, learns and analyzes the correlation between data by using an algorithm model, and generates a comprehensive quality evaluation report including row distance stability, job depth consistency, speed compliance and trajectory integrity. The quality report can be pushed to the grower, the supervisor or the agricultural machine service party according to different user permissions, and serves as an important basis for agricultural machine job performance evaluation and service fee settlement.

[0065] By adding the job progress and coverage analysis unit and the multi-source fusion evaluation engine in the cloud platform, the comprehensive supervision capability of the agricultural machine job state and quality is substantially enhanced. Not only can the running trajectory of the agricultural machine be accurately displayed, the abnormal areas such as missed and repeated broadcasting can be quickly marked to help the grower discover the job blind area in time and effectively avoid resource waste, but also the spatial positioning and the agricultural machine job parameters are deeply fused by the multi-source fusion evaluation engine, and the multi-factor quality evaluation is performed by the algorithm model to overcome the limitations of the traditional single trajectory evaluation method, and the compliance of the job behavior and the consistency of the job state can be tested.

[0066] As a preferred example of the present application, the cloud platform further comprises a service quality scoring module for quantitatively scoring the agricultural machinery operation quality according to the comprehensive quality evaluation results of the row distance dynamic analysis unit, the speed compliance evaluation unit and the multi-source fusion evaluation engine, and generating a comprehensive operation quality evaluation report, and the user terminal can perform operation cost accounting and management according to the comprehensive operation quality evaluation report. The agricultural machinery operation quality monitoring system of the present application further integrates a service quality scoring module on the basis of the original technical solution, and the addition of the module makes the operation quality evaluation not only stay at the data analysis level, but also directly linked to economic benefits. Specifically, the system performs real-time analysis on the positioning data and operation parameters of the agricultural machinery operation through the row distance dynamic analysis unit, the speed compliance evaluation unit and the multi-source fusion evaluation engine, comprehensively evaluates the operation precision, speed compliance and overall operation effect, the service quality scoring module quantitatively scores the agricultural machinery operation quality based on these evaluation results, and generates a comprehensive operation quality evaluation report, the user terminal receives and displays this report, and accounts and manages the operation cost according to the scoring results, and the part of the operation quality that does not meet the standard will be reduced according to the preset rules, so as to ensure that the quality of the agricultural machinery operation and the economic benefits are directly related. In the example of the present application, the comprehensive operation quality evaluation report can also provide improvement suggestions according to the analysis results, such as reminding the service party to debug the farm tools, helping the agricultural machinery service party to find the shortcomings in the operation and providing improvement direction, in addition to the score of the operation quality.

[0067] The present application establishes a direct link between operation quality and economic benefits through the introduction of the service quality scoring module, and through the accounting and management of operation cost, the farmer can clearly understand the operation quality, find problems and handle them in time, and the agricultural machinery service party must improve the operation quality according to the scoring results, so as to effectively improve the operation precision and efficiency. Through this innovative design, the system not only improves the operation quality, but also enhances the sense of responsibility and improvement willingness of the agricultural machinery service party.

[0068] As a preferred example of the present application, the separated monitoring device further comprises a waterproof and dustproof shell with a protection level not less than IP67, which is used to encapsulate and protect the internal RTK positioning module, multi-protocol CAN port module, data buffer module and wireless communication module. By setting a waterproof and dustproof shell with a protection level not less than IP67 outside the separated monitoring device, the adaptability of the device to harsh environmental conditions is enhanced, so that the monitoring device can be widely deployed in complex field operation scenes such as heavy rain, strong wind, dust flying or muddy ground, effectively avoiding short circuit, data interruption, communication failure and other failure problems caused by rainwater immersion, dust accumulation or silt blockage, ensuring the stable operation of the system core components and prolonging the service life of the device. At the same time, the frequency of equipment maintenance and replacement caused by external environmental interference is reduced, the operation and maintenance cost of agricultural machinery service units and growers is reduced, and the timeliness and reliability of agricultural operation data collection are improved.

[0069] In the examples of the present application, the row spacing dynamic analysis unit and the speed compliance evaluation unit constitute the speed monitor module of the system, which performs data validity verification, calculation of the instantaneous speed of the agricultural machine, turning area identification and speed compliance evaluation according to the positioning data sent by the RTK positioning module. The cloud platform performs real-time processing according to the data transmitted by the speed monitor module. After calculating the instantaneous speed and identifying the driving area, the speed monitor will perform compliance evaluation on the speed of the agricultural machine according to the preset speed threshold. If the speed is found to be abnormal and the duration exceeds 10 seconds, the system will send an abnormal alarm to the cloud platform, and the cloud platform will push the alarm information to the user terminal, so that the user can timely understand the abnormal situation in the agricultural operation. After completing the data processing, the cloud platform will generate a speed compliance report, which can be queried by the user through the user terminal to obtain detailed statistical results of the agricultural operation speed, such as the number of overspeeds and the proportion of overspeed duration, so as to comprehensively evaluate the quality of agricultural operation.

[0070] In the examples of the present application, the separated device is provided with a main control module, a wireless data transmission module and an RTK positioning module, wherein:

[0071] The main control module adopts a microcontroller chip with minimum system function, which is used to receive and analyze the positioning data signal from the RTK positioning module, and output the analyzed data to the wireless data transmission module after processing;

[0072] The wireless data transmission module is a data transparent unit supporting multi-protocol transparent transmission, which is used to upload the analyzed data to the cloud platform through wireless network;

[0073] The RTK positioning module includes a differential positioning unit, a signal processing unit and a receiving antenna, which adopts Beidou RTK positioning method to obtain centimeter-level positioning data and output to the main control module.

[0074] In the examples of the present application, the separated device is arranged outside the agricultural machinery for independently collecting high-precision positioning data during the operation of the agricultural machinery and uploading to the cloud platform. The separated device internally integrates a master control module, a wireless data transmission module and an RTK positioning module. The master control module adopts a microcontroller chip with minimum system function, such as a control unit with model STM32F103ZET6, which is used to analyze satellite positioning data output by the RTK positioning module and output to the communication module. The wireless data transmission module is a 4G Cat1 DTU module with multi-protocol transparent transmission capability, which supports multiple network communication protocols and has cloud platform docking capability, and can upload structured data output by the master control module to the cloud server in real time through wireless communication. The RTK positioning module adopts Beidou differential positioning method to obtain centimeter-level positioning information of the agricultural machinery, including a differential positioning unit, a signal processing unit and a four-arm satellite signal receiving antenna with a low spiral structure. The antenna structure is compact, adaptive to complex multi-path environment and has good anti-interference performance. The RTK module, for example, adopts a positioning core board with model WTRTK-960 in combination with an evaluation board structure supporting 4G communication, which is connected with the master control module through a standard serial port protocol, forming a Beidou RTK positioning module of WTRTK-960+4G evaluation board+low spiral four-arm antenna. The system as a whole is packaged inside a shell with IP67 protection level, realizing structure integration, high flexibility of layout and strong anti-environmental interference capability of the field operation monitoring terminal deployment method.

[0075] The present application also discloses an agricultural machinery operation quality monitoring method based on RTK high-precision positioning, comprising the following steps:

[0076] S1, collecting RTK high-precision positioning data and implement operation parameters during the operation through the independent separated device installed on the agricultural machinery, and uploading to the cloud platform through wireless network;

[0077] S2, linearly fitting the RTK positioning point sequence by the cloud platform to generate an agricultural machinery operation reference trajectory and calculate the row spacing deviation value;

[0078] S3, calculating the instantaneous operation speed of the agricultural machinery according to the displacement and time interval between the continuous positioning points, and judging whether it is in a turning state through the change rate of heading angle. If it is not in a turning state, it is judged whether the speed is compliant;

[0079] S4, evaluating the operation area, re-broadcast rate, missed-broadcast rate and operation consistency based on the operation reference trajectory and implement operation parameters, and generating a visual operation heat map;

[0080] S5, the cloud platform constructs a job quality evaluation model based on the fusion analysis result of the RTK positioning data and the job parameters, and generates a comprehensive job quality evaluation report for job management and cost accounting and sends it to the user terminal for display.

[0081] The present application relies on a separate device installed on an agricultural machine, which continuously receives satellite positioning signals using its RTK positioning module and outputs high-precision spatial coordinates in real time through differential positioning algorithms. At the same time, it accesses the agricultural CAN bus or other interfaces to receive real-time agricultural tool operation parameters such as seeding depth, plowing width, and seeding quantity. All data is cached and uploaded to the cloud platform through the wireless communication module. The cloud platform first performs linear fitting on the continuous RTK coordinate point sequence to generate a high-precision job reference trajectory and calculate the job row spacing deviation value. This deviation is compared with the set threshold to determine whether it is compliant. Then, the instantaneous job speed is calculated by the displacement of the continuous positioning points and the time difference, and the heading angle change rate is calculated to accurately identify the turning state, avoiding the misjudgment of natural speed fluctuations during turning as excessive speed operation. Only the non-turning section is analyzed for speed compliance. Next, the cloud platform combines the agricultural machine's travel trajectory and operation parameters to perform grid processing on the operation area, identify and quantify the re-seeding and missed-seeding areas, evaluate the operation area and operation consistency, and output a visual heat map. Finally, by fusing job speed, trajectory distribution, parameter compliance, and coverage quality, an operation quality evaluation model is constructed to obtain a comprehensive and quantitative operation quality score result, and a quality report with visual display capability is generated and pushed to the user terminal as the basis for cost settlement and operation supervision, realizing the whole-process closed-loop management of agricultural operation quality monitoring.

[0082] As a preferred example of the present application, in step S2, it includes:

[0083] S21: performing segmented linear fitting on the continuous RTK positioning point sequence to generate a reference trajectory;

[0084] S22: calculating the perpendicular distance between adjacent fitted line segments, the formula is as follows:

[0085]

[0086] wherein is the reference line equation, , are the coordinates of the comparison points;

[0087] S23: calculating the row spacing deviation wherein is the preset theoretical row spacing, configured according to the crop type.

[0088] The application improves the accuracy and mathematical rigor of agricultural machinery operation row spacing monitoring by upgrading the traditional operation trajectory point set processing method to segmented linear fitting and vertical distance calculation mechanism. The traditional method usually uses point-to-point distance or simple grid overlap to evaluate the row spacing, which is easily affected by noise or positioning drift, leading to error expansion. The method of the application effectively eliminates the discrete error between the collected points by fitting the point set and converting it into a line segment for calculation, making the actual row spacing measurement smoother and more geometrically stable. In addition, the fitting process can adapt to the changes in trajectory curvature caused by slight deviation of the agricultural machinery path, making the row spacing calculation more adaptive to the complex path characteristics in the actual operation plot. The introduction of row spacing deviation value not only realizes the quantitative expression of row spacing compliance, but also accurately locates and analyzes the deviation behavior in specific section operation, providing solid data support for quality diagnosis of agricultural machinery operation, assessment and scheduling optimization of agricultural machinery service providers.

[0089] As a preferred example of the application, in step S3, it includes:

[0090] S31: Calculate the instantaneous operation speed based on the continuous positioning data of the agricultural machinery, and the calculation formula is as follows:

[0091]

[0092] wherein, is the Haversine distance between the continuous positioning points, is the time difference, unit is , The calculation formula of , is the average latitude, is the radius of the earth (value 6371008.8 meters), is the latitude difference, is the longitude difference;

[0093] S32: Obtain the standard deviation of the continuous heading angle change rate of the agricultural machinery , and the calculation formula is as follows:

[0094]

[0095] wherein, is the number of data points for calculation, is the index variable for summation, is the heading angle change amount in the th time interval, is the average value of all ;

[0096] When When the turning angle is greater than a preset threshold, it is determined that the agricultural machine is in a turning state, and the execution of the low-speed alarm logic is paused.

[0097] The application effectively improves the recognition ability of the agricultural machine operation state monitoring system for the turning situation by introducing a dynamic recognition mechanism based on the standard deviation of the heading angle change rate. The instantaneous operation speed of the agricultural machine is obtained by calculating the displacement between adjacent positioning points and the time difference, thereby realizing real-time monitoring of the current driving state and providing basic data for speed compliance judgment. Subsequently, the system further analyzes the heading angle change corresponding to the continuous positioning points and calculates the standard deviation of the heading angle change rate per unit time This parameter reflects the fluctuation degree of the heading stability, i.e., whether the agricultural machine has behaviors such as sharp turning and continuous deviation. When the agricultural machine enters a turning state, its heading angle usually changes rapidly, resulting in rapid increase. The system pre-sets a reasonable threshold as a judgment standard. When the threshold is exceeded, the operation state is automatically marked as “turning”, and the low-speed alarm mechanism is paused during this period to avoid misidentifying the speed reduction caused by turning as a speed anomaly. After falling below the threshold and the heading returning to stability, the system re-enables the low-speed alarm function, thereby forming a dynamic recognition and control closed-loop mechanism for the turning state.

[0098] As a preferred example of the application, in step S3, in the non-turning state, the instantaneous speed of the agricultural machine is compared with the preset speed threshold. When the speed exceeds the upper threshold or is lower than the lower threshold, the overspeed alarm or low-speed alarm is triggered, respectively. In the agricultural machine operation quality monitoring method based on RTK high-precision positioning proposed in the application, to further improve the completeness and management value of speed monitoring, the overspeed and low-speed dual-direction alarm mechanism is implemented for the agricultural machine operation speed in the non-turning state in step S3. The combination of accurate speed collection and automatic recognition of turning areas not only avoids the alarm interference caused by misjudgment of the traditional system, but also guarantees the comprehensive coverage of the speed dimension in the operation evaluation. The system can trigger an alarm and record data based on real-time speed fluctuations, provide immediate feedback to the operator, and facilitate timely correction of improper operation behavior. At the same time, the system can also automatically generate behavior records based on the alarm time and frequency for cost reduction and service evaluation, so that the agricultural service provider actively ensures operation compliance under the driving of economic interests, thereby promoting the standardization of agricultural machine operation and the development of service market specification. It is suitable for fine operation scenarios of autonomous agricultural machines in fields, hills and other different terrains, and has the comprehensive advantages of flexible deployment, accurate recognition, timely response and effective supervision.

[0099] As a preferred example of the present application, the agricultural machinery operation quality monitoring method based on RTK high-precision positioning described in the present application supports real-time supervision and dynamic scheduling of collaborative operation of multiple agricultural machines, generates operation heat maps and identifies operation efficiency differences by synchronously collecting operation progress and positioning data of each agricultural machine, and automatically recommends operation scheduling schemes based on preset rules. The agricultural machinery operation quality monitoring method based on RTK high-precision positioning described in the present application further expands the operation management capability of the system and applies it to the supervision and dynamic scheduling scene of collaborative operation of multiple agricultural machines. By deploying high-precision positioning monitoring devices with RTK function on multiple agricultural machines, the position information and operation state data of each agricultural machine during field operation are continuously collected and uploaded to the cloud platform in real time through a wireless network. The platform constructs the operation trajectory of each agricultural machine based on these continuous positioning points and analyzes the effective operation area completed by each agricultural machine in unit time by combining operation parameters. Thus, the operation progress and efficiency are calculated. At the same time, combined with the preset plot boundary coordinates, the system can realize the identification of the area inside and outside the operation range to avoid cross-border operation. Based on the progress analysis, the platform performs graphical rendering on the operation coverage of the entire plot by using heat map algorithm, so that the operation state of each area is visually visible on the user terminal. On this basis, the system further compares the operation efficiency data of each agricultural machine. If it is detected that the operation speed or efficiency of a certain device is significantly behind that of other devices, the platform will recommend the optimal agricultural machine transfer path based on the current agricultural machine position, path coverage state, and remaining operation amount, etc. by using resource scheduling rules, thereby completing the dynamic supervision and deployment of collaborative operation of multiple agricultural machines. In practical applications, this method can be widely applied to multi-link agricultural operation processes such as seeding, fertilizing, and harvesting, and is especially suitable for large-scale farms, cooperatives, and unmanned operation scenes.

[0100] The RTK high-precision positioning-based agricultural machinery operation quality monitoring system and method described in the application, by independently deploying a separate monitoring device on the agricultural machinery, combining a centimeter-precision RTK positioning module and a multi-protocol CAN interface to realize synchronous collection of operation trajectory and operation parameters, taking a cloud platform as the core, constructing a quality evaluation model including row spacing analysis, speed evaluation, operation coverage identification and multi-source data fusion, being capable of monitoring and precision analyzing the whole process of agricultural machinery operation, and realizing quantitative scoring and visual display of operation quality, especially the system supporting automatic identification of turning state and abnormal operation behavior alarm mechanism, significantly improving the identification accuracy and response efficiency of non-standard operation, at the same time, the system has an open multi-terminal access and permission management mechanism, which can meet the multi-role collaborative management needs of growers, service providers and regulators, effectively solving the core problems of unclear data ownership, missing quality evaluation and lack of supervision mechanism in the prior art, in addition, the application also integrates operation coverage rate analysis and agricultural machinery collaborative scheduling modules in the cloud platform, which can generate operation heat maps according to real-time operation efficiency and progress distribution, and recommend agricultural machinery transfer paths based on scheduling rules, realizing intelligent management and control of multi-machine collaborative operation, on the basis of guaranteeing data independence and neutrality, the system realizes a complete closed loop from high-precision trajectory acquisition, operation behavior identification to quality score feedback, not only improving the precision and transparency of operation quality supervision, but also promoting the standardization and high-quality development of the agricultural machinery service market, and is suitable for various agricultural links such as sowing, fertilizing and harvesting, especially suitable for large-scale operation subjects and automatic driving agricultural operation scenarios, and has the comprehensive advantages of flexible deployment, stable operation, objective evaluation and efficient scheduling. Specific embodiment 1

[0102] This embodiment applies the RTK high-precision positioning-based agricultural machinery operation quality monitoring method described in the application to traditional agricultural machinery operation quality monitoring, by firmly fixing the separate monitoring device to the rear part of the agricultural machinery, ensuring that the RTK module in the device can normally receive satellite signals, and during installation, attention should be paid to avoid interference between the device and other agricultural machinery parts, to ensure the stability and reliability of the device during the operation of the agricultural machinery.

[0103] The operation parameters are set through the mobile terminal, the operation type is set to "sowing", the preset row spacing is 50 cm, and the speed range is set to 3-6 km / h. The setting of these parameters is based on the actual needs of sowing operation and relevant agricultural standards, to ensure that the agricultural machinery operates within the appropriate operation parameter range.

[0104] The RTK module generates centimeter-level trajectories at a frequency of 2Hz, and the cloud platform dynamically receives these trajectory data and calculates the actual row spacing deviation When the fluctuation of the distance between the continuous track segments exceeds ±8 cm (±5 cm threshold) is detected, the system automatically marks the area as an abnormal area and triggers the alarm mechanism.

[0105] By adopting the above-mentioned embodiments, the following technical effects are achieved:

[0106] (1) The qualified rate of the distance between the lines is improved to 92% (only 78% for traditional manual detection);

[0107] (2) The coverage rate of the track reaches 97%, reducing the missed area by 23%;

[0108] (3) The service fee is accurately deducted by the grower according to the system report. Specific Embodiment 2

[0110] This embodiment applies the RTK high-precision positioning-based agricultural machinery operation quality monitoring method described in the present application to automatic driving agricultural machinery overspeed monitoring. By independently installing the separated monitoring device on the top of the automatic driving agricultural machinery, it is ensured that the RTK module in the device can normally receive satellite signals. During installation, attention should be paid to avoiding the original navigation system of the agricultural machinery to prevent signal interference or physical conflict.

[0111] By operating the related setting interface, the speed threshold of the harvesting operation is set to 4-7 km / h, ensuring that the agricultural machinery operates within the appropriate speed range. At the same time, the turning recognition function is turned on to enable the system to accurately identify the turning state of the agricultural machinery and avoid misjudgment caused by speed changes during turning.

[0112] Using the RTK high-precision positioning technology, based on the continuous displacement data of the agricultural machinery, the instantaneous speed of the agricultural machinery is calculated through the instantaneous speed calculation formula of the agricultural machinery, which is:

[0113] ;

[0114] The standard deviation of the heading angle change rate is calculated by the heading angle change rate standard deviation calculation formula , and the heading angle change rate standard deviation calculation formula is:

[0115]

[0116] When , it is determined that the agricultural machinery is in the turning area, and the system automatically filters the speed data of this area to avoid interference of speed changes during turning on overspeed judgment.

[0117] The system continuously monitors the speed of the agricultural machinery in the non-turning area, identifies the case where the agricultural machinery continuously exceeds the speed of 8.5 km / h (21.4% above the threshold), and accumulates the record of the duration of overspeed operation accounting for 18% of the whole process.

[0118] By adopting the above-mentioned embodiments, the following technical effects are achieved:

[0119] (1) The overspeed section is displayed.

[0120] (2) The service party accepts the system data, and reduces the operation cost according to the overspeed proportion.

[0121] (3) The service party's sense of responsibility is improved, and the compliance of the agricultural machinery operation speed is ensured. Specific embodiment 3

[0123] In this embodiment, the agricultural machinery operation quality monitoring method based on RTK high-precision positioning described in the present application is applied to open interface agricultural machinery depth-row spacing fusion monitoring. The host of the monitoring device is stably fixed to the top of the cab of the agricultural machinery. During the fixing process, it is ensured that the host is installed in a reasonable position and does not affect the normal operation and vision of the driver.

[0124] According to the planting requirements and agronomic standards of crops, the preset row spacing is 60 cm±5 cm. Combined with the soil conditions and crop seed characteristics, the seeding depth is set to 5 cm±1 cm. The accurate position information of the agricultural machinery is obtained by using the RTK high-precision positioning technology, and the seeding depth data is obtained in real time through the interface connected with the seeding machine.

[0125] According to the obtained positioning data and seeding depth parameters, a detailed operation process diagram is drawn, the depth abnormal area is calibrated, the operation conditions of the agricultural machinery and the implement are comprehensively analyzed, the operation quality of the agricultural machinery is comprehensively evaluated, and the service party is reminded to debug the implement. Specific embodiment 4

[0127] In this embodiment, the agricultural machinery operation quality monitoring method based on RTK high-precision positioning described in the present application is applied to multi-agricultural machinery cooperative operation supervision. The monitoring devices are synchronously installed on three seeding machines. During the installation process, it is ensured that the devices are firmly and reasonably installed, and any interference with the normal operation of the seeding machines and the operation of the drivers is avoided.

[0128] By operating the related setting interface, the speed threshold is uniformly set to 5-8 km / h, and the electronic fence of the plot boundary is accurately configured according to the actual situation of the operation plot. The operation progress of each agricultural machinery is dynamically calculated by real-time receiving of the positioning data and other information uploaded by the agricultural machinery. The system automatically generates an operation heat map according to the operation progress and position information of each agricultural machinery.

[0129] By comparing the operation data of each agricultural machinery, it is accurately identified that the operation efficiency of agricultural machinery 1 is only 68% of that of agricultural machinery 2. Based on the evaluation result of the operation efficiency, the system automatically recommends that agricultural machinery 3 transfer the field to assist.

[0130] The embodiments of the present application are described above with reference to the drawings, and the embodiments and features in the embodiments of the present application can be combined with each other without conflict, and the present application is not limited to the above-described specific embodiments, and the above-described specific embodiments are only illustrative but not restrictive, and a person of ordinary skill in the art can make many forms under the inspiration of the present application without departing from the purpose of the present application and the scope protected by the claims, and all belong to the protection of the present application.

Claims

1. An agricultural machine operation quality monitoring system based on RTK high-precision positioning, characterized in that, The application relates to a quality detection method and system for agricultural machinery. The application comprises: a separated monitoring device arranged outside the agricultural machinery and physically isolated from the original control system, comprising an RTK positioning module, a multi-protocol CAN port module, a data buffering module and a wireless communication module, the RTK positioning module is used for collecting centimeter-level positioning data, the multi-protocol CAN port module is used for receiving operation parameters of an open port of an agricultural implement, the data buffering module is used for temporarily storing the positioning data and the operation parameters and uploading the data at a set time interval, and the wireless communication module is used for uploading the collected data to the cloud based on 4G / 5G communication technology; a cloud platform in communication connection with the separated monitoring device, comprising a row spacing dynamic analysis unit and a speed compliance evaluation unit, and being used for performing row spacing dynamic analysis and speed compliance evaluation, wherein the row spacing dynamic analysis unit generates a row spacing deviation index based on linear fitting and distance calculation of a continuous positioning point sequence, and the speed compliance evaluation unit is used for calculating the operation speed of the agricultural machinery and identifying a turning state to determine whether the speed is compliant; the cloud platform further comprises a work progress and coverage rate analysis unit and a multi-source fusion evaluation engine, wherein the work progress and coverage rate analysis unit is used for drawing a work process map based on the collected positioning data and operation parameters and evaluating the missed sowing and repeated sowing conditions in a work area, and the multi-source fusion evaluation engine is used for performing fusion analysis on the RTK positioning data and the operation parameters of the agricultural implement to generate a comprehensive quality evaluation result containing operation accuracy, operation parameter compliance and overall operation effect; a user terminal connected with the cloud platform and used for displaying a work heat map and a quality report; the quality detection method comprises the following steps: S1, collecting RTK high-precision positioning data and implement operation parameters in a work process through a separated device installed on the agricultural machinery and uploading the data to the cloud platform through a wireless network; S2, performing linear fitting on the RTK positioning point sequence by the cloud platform to generate a reference track of the agricultural machinery operation and calculate a row spacing deviation value; S3, calculating the instantaneous operation speed of the agricultural machinery according to the displacement and time interval between continuous positioning points, judging whether it is a turning state through the change rate of the heading angle, and judging whether the speed is compliant if it is a non-turning state; S4, evaluating the work area, the repeated sowing rate, the missed sowing rate and the operation consistency based on the reference track of the work and the operation parameters of the implement and generating a visual work heat map; S5, constructing a work quality evaluation model by the cloud platform based on the fusion analysis result of the RTK positioning data and the operation parameters, constructing multi-dimensional information of the operation speed, track distribution, parameter compliance and coverage quality, generating a comprehensive work quality evaluation report for work management and cost accounting and sending the report to the user terminal for display; 2. The RTK-based high-precision positioning agricultural operation quality monitoring system according to claim 1, characterized in that, when the cloud platform identifies that there is a continuous track section with a row spacing fluctuation greater than a preset row spacing threshold value or a non-turning area with an operation speed continuously exceeding a preset speed threshold value in the work track, the system automatically marks the abnormal area and triggers an alarm to remind the operator. The RTK positioning module adopts the Beidou / GPS satellite system for differential positioning, the updating frequency of the positioning data is not lower than 1Hz, and the positioning accuracy is better than 2cm. 3.The RTK-based high-precision positioning agricultural operation quality monitoring system according to claim 1, characterized in that, The cloud platform further comprises a service quality scoring module, which is configured to quantitatively score the agricultural operation quality according to the comprehensive quality evaluation result of the distance dynamic analysis unit, the speed compliance evaluation unit and the multi-source fusion evaluation engine, and generate a comprehensive operation quality evaluation report, so that the user terminal can perform operation cost accounting and management according to the comprehensive operation quality evaluation report.

4. The RTK-based high-precision positioning agricultural operation quality monitoring system according to claim 1, characterized in that, The split monitoring device further comprises a waterproof and dustproof shell with a protection level of not less than IP67, which is used for encapsulating and protecting the internal RTK positioning module, multi-protocol CAN port module, data buffer module and wireless communication module.

5. The agricultural machine operation quality monitoring system based on RTK high-precision positioning according to claim 1, characterized in that, In step S2, comprising: S21: performing piecewise linear fitting on the continuous RTK positioning point sequence to generate a reference trajectory; S22: calculating the perpendicular distance between adjacent fitting line segments, and the calculation formula is as follows: ； wherein is the baseline equation, , is the contrast point coordinate; S23: Calculate row spacing deviation wherein is a preset theoretical row spacing, configured according to crop type.

6. The agricultural machine operation quality monitoring system based on RTK high-precision positioning according to claim 5, characterized in that, In step S3, comprising: S31: calculating the instantaneous operation speed based on the continuous positioning data of the agricultural machine, and the calculation formula is as follows: ； wherein, is the Haversine distance between two consecutive fix points, is the time difference, in seconds, , The formula for calculating is: , is the average latitude, is the Earth's radius, is the difference in latitude, is the difference in longitude; S32: Obtain the standard deviation of the change rate of the continuous heading angle of the agricultural machine The calculation formula is as follows: ； wherein, is the number of data points for the calculation, is an index variable for the summation, is the change in heading angle in the time interval, is the average value of all . When If the turning angle is greater than a preset threshold, it is determined that the agricultural machine is in a turning state, and the execution of the low-speed alarm logic is suspended.

7. The agricultural machine operation quality monitoring system based on RTK high-precision positioning according to claim 6, characterized in that, In step S3, in the non-turning state, the instantaneous speed of the agricultural machine is compared with the preset speed threshold value, and when the speed exceeds the upper threshold value or is lower than the lower threshold value, an overspeed alarm or a low-speed alarm is triggered, respectively. 8.The RTK-based high-precision positioning agricultural operation quality monitoring system according to claim 1, characterized in that, Supporting real-time supervision and dynamic scheduling of collaborative operation of multiple agricultural machines, through synchronous acquisition of operation progress and positioning data of each agricultural machine, an operation heat map is generated and operation efficiency difference is identified, and automatic operation scheduling is recommended based on preset rules.

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