Agricultural machinery operation scheduling method and device based on Beidou positioning, equipment and storage medium

Abstract

The invention discloses an agricultural machinery operation scheduling method, device and equipment based on Beidou positioning, and a storage medium, and relates to the technical field of Beidou intelligent agricultural machinery scheduling, and the method comprises the steps: calculating the matching degree score of each agricultural machinery for each operation task based on an agricultural machinery operation capability dynamic evaluation model, and obtaining a matching degree score result; judging whether a score difference value of each agricultural machine for the same task in the matching degree score result is smaller than a preset confidence threshold value or not, and obtaining a judgment result; when the judgment result is that the score difference value is smaller than a preset confidence threshold value, a multi-machine collaborative conflict resolution mechanism is started to execute a bilateral matching algorithm on each agricultural machine and each operation task, and a target scheduling scheme is obtained; and generating an operation path according to the target scheduling scheme, sending the operation path to the agricultural machine positioning terminal to perform agricultural machine operation, and through conflict resolution and dynamic path correction, significantly reducing the empty driving range and improving the operation response speed.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of Beidou intelligent agricultural machinery scheduling technology, and particularly relates to a Beidou positioning-based agricultural machinery operation scheduling method, device, equipment and storage medium. BACKGROUND

[0002] With the rapid advancement of agricultural scale operation, cross-region operation has become the main way to improve the utilization rate of agricultural machinery and ensure the demand for agricultural time. The demand for precise, efficient and low-consumption agricultural machinery scheduling is increasingly urgent.

[0003] The existing scheduling relies on manual experience and simple location matching, and cannot handle resource conflicts caused by multiple machines competing for the same task in real time. It also lacks dynamic correction ability for operation trajectory deviation, resulting in high empty running rate, slow response and low operation efficiency.

[0004] The above content is only used to assist in understanding the technical solutions of the present application and does not represent the acknowledgement of the above content as prior art. SUMMARY

[0005] The main purpose of the present application is to provide a Beidou positioning-based agricultural machinery operation scheduling method, device, equipment and storage medium, which aims to solve the technical problems of high empty running rate and slow response caused by task competition disorder and operation path deviation in existing fleet scheduling.

[0006] To achieve the above purpose, the present application provides a Beidou positioning-based agricultural machinery operation scheduling method, which comprises the following steps:

[0007] Calculating the matching degree score of each agricultural machine for each operation task based on an agricultural operation capacity dynamic evaluation model to obtain a matching degree score result; Judging whether the score difference of each agricultural machine for the same task in the matching degree score result is less than a preset confidence threshold to obtain a judgment result; When the judgment result is that the score difference is less than the preset confidence threshold, starting a multi-machine collaborative conflict resolution mechanism to perform a two-sided matching algorithm on each agricultural machine and each operation task to obtain a target scheduling scheme; Generating an operation path according to the target scheduling scheme and sending the operation path to an agricultural machine positioning terminal for agricultural operation.

[0008] In an embodiment, the step of calculating the matching degree score of each agricultural machine for each operation task based on the agricultural operation capacity dynamic evaluation model to obtain a matching degree score result comprises: The real-time location information of agricultural machinery collected by the positioning terminal, the operating parameters collected by the agricultural machinery bus interface, the adaptation parameters retrieved from the agronomic database, and the performance data stored in the operation history database are fused together to obtain a standardized parameter set. Based on the soil moisture values ​​and crop type codes in the standardized parameter set, the operation speed weight factor and operation quality weight factor are dynamically adjusted to obtain a dynamic weight configuration. Based on the dynamic weight configuration and the urgency level in the task information, the matching score of each agricultural machine to each task is calculated by the dynamic evaluation model of agricultural machinery operation capability. The matching scores are sorted in descending order of the urgency of the task to obtain the matching score results.

[0009] In one embodiment, the step of determining whether the score difference of each of the agricultural machines for the same task in the matching score results is less than a preset reliability threshold, and obtaining the determination result, includes: The scoring data of each agricultural machine for the same task is extracted from the matching score results to obtain the scoring dataset; Calculate the difference between the maximum and minimum values ​​in the rating dataset to obtain the rating difference; The score difference is compared with a preset reliability threshold to obtain the comparison result; If the comparison result shows that the score difference is less than the preset reliability threshold, the judgment result is determined to be that the conflict resolution mechanism needs to be activated.

[0010] In one embodiment, the step of initiating a multi-machine collaborative conflict resolution mechanism to execute a bilateral matching algorithm on each of the agricultural machines and each of the operational tasks to obtain a target scheduling scheme when the judgment result is that the score difference is less than the preset confidence threshold includes: The conflict resolution requirement information in the judgment result is analyzed to obtain the analyzed requirement information; Based on the parsed demand information, the promised operation time parameters and operation quotation parameters of each agricultural machine are obtained to obtain the agricultural machine parameter set; Based on the parsed demand information, the land area parameters and urgency parameters of each task are obtained to obtain the task parameter set; The agricultural machinery parameter set and the task parameter set are input into a bilateral matching algorithm for calculation to obtain the initial pairing result; Execute conflict resolution rules on the multi-machine competition for the same task event in the initial pairing results to obtain the target scheduling scheme; The target scheduling scheme is output to the path generation module, so that the path generation module generates job paths based on the target scheduling scheme.

[0011] In one embodiment, the step of generating a work path according to the target scheduling scheme and sending the work path to the agricultural machinery positioning terminal for agricultural machinery operation includes: The matching information between agricultural machinery and work tasks in the target scheduling scheme is analyzed to obtain the parsed matching information; Based on the parsed pairing information, the land boundary coordinate data of the task is obtained to obtain the task boundary data; Based on the parsed pairing information, the current position coordinates of the agricultural machinery are obtained to obtain the agricultural machinery position data; Based on the task boundary data and the agricultural machinery location data, a path calculation is performed to generate an operation path; The operation path data is packaged into an instruction format path that can be recognized by the positioning terminal; The instruction format path is sent to the agricultural machinery positioning terminal so that the agricultural machinery positioning terminal can receive and execute the operation instruction.

[0012] In one embodiment, the method further includes: During the operation, the actual operating trajectory data of the agricultural machinery is collected in real time at a preset reporting frequency to obtain the trajectory collection results; Based on the trajectory acquisition results, the deviation distance between the actual operating trajectory of the agricultural machinery and the operation path is monitored to obtain the deviation monitoring results; Determine whether the deviation distance value in the deviation monitoring result is greater than a preset deviation threshold to obtain the deviation judgment result; When the deviation judgment result is that the deviation distance value is greater than the preset deviation threshold, the correction path is replanned to obtain the path correction result; The path correction result is sent to the agricultural machinery positioning terminal so that the agricultural machinery positioning terminal can continue to operate according to the corrected path.

[0013] In one embodiment, the step of replanning and correcting the path when the deviation judgment result is that the deviation distance value is greater than a preset deviation threshold, to obtain a path correction result, includes: When the deviation judgment result is that the deviation distance value is greater than the preset deviation threshold, the current position coordinates of the agricultural machinery and the coordinates of the remaining unoperated path points in the operation path are obtained; The path is recalculated based on the current location coordinates and the coordinates of the unworked path points to obtain the path correction result; The path correction result is sent to the agricultural machinery positioning terminal so that the agricultural machinery can execute the corrected operation path.

[0014] Furthermore, to achieve the above objectives, this application also provides an agricultural machinery operation scheduling device based on BeiDou positioning, the device comprising: The matching score module is used to calculate the matching score of each agricultural machine for each task based on the dynamic evaluation model of agricultural machinery operation capability, and obtain the matching score result. The judgment module is used to determine whether the score difference of each of the agricultural machines for the same task in the matching score results is less than a preset reliability threshold, and to obtain the judgment result; The conflict resolution module is used to activate a multi-machine collaborative conflict resolution mechanism to perform a bilateral matching algorithm on each of the agricultural machines and each of the operation tasks when the judgment result is that the score difference is less than the preset confidence threshold, so as to obtain a target scheduling scheme. The path generation module is used to generate a work path according to the target scheduling scheme and send the work path to the agricultural machinery positioning terminal for agricultural machinery operation.

[0015] Furthermore, to achieve the above objectives, the present invention also proposes an agricultural machinery operation scheduling device based on BeiDou positioning. The device includes: a memory, a processor, and an agricultural machinery operation scheduling program based on BeiDou positioning stored in the memory and executable on the processor. The agricultural machinery operation scheduling program based on BeiDou positioning is configured to implement the steps of the agricultural machinery operation scheduling method based on BeiDou positioning as described above.

[0016] In addition, to achieve the above objectives, the present invention also proposes a storage medium storing a BeiDou-based agricultural machinery operation scheduling program, wherein when the BeiDou-based agricultural machinery operation scheduling program is executed by a processor, it implements the steps of the BeiDou-based agricultural machinery operation scheduling method described above.

[0017] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the agricultural machinery operation scheduling method based on BeiDou positioning as described above.

[0018] One or more technical solutions proposed in this application have at least the following technical effects: By dynamically assessing the operational capabilities of agricultural machinery and introducing a multi-machine collaborative conflict resolution mechanism, the disorderly competition for resources during the task allocation phase is eliminated. Real-time trajectory monitoring and dynamic path correction ensure immediate correction of path deviations during the operational phase. The combination of these two measures significantly reduces empty mileage, shortens dispatch response time from hours to minutes, and significantly improves operational coverage and on-time performance, providing a highly efficient and low-loss closed-loop dispatching solution for cross-regional machinery fleets. Attached Figure Description

[0019] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart illustrating an embodiment of the agricultural machinery operation scheduling method based on BeiDou positioning provided in this application. Figure 2 This is a flowchart illustrating Embodiment 2 of the agricultural machinery operation scheduling method based on BeiDou positioning in this application; Figure 3 This is a schematic diagram of the module structure of the agricultural machinery operation scheduling device based on Beidou positioning according to an embodiment of this application; Figure 4 This is a schematic diagram of the equipment structure of the hardware operating environment involved in the agricultural machinery operation scheduling method based on Beidou positioning in the embodiments of this application. Detailed Implementation

[0022] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0023] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0024] It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or an electronic device capable of performing the above functions, such as a BeiDou-based agricultural machinery operation scheduling method device. The following description uses a BeiDou-based agricultural machinery operation scheduling method device as an example to illustrate this embodiment and the subsequent embodiments.

[0025] Based on this, the embodiments of this application provide a method for scheduling agricultural machinery operations based on BeiDou positioning, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the agricultural machinery operation scheduling method based on BeiDou positioning in this application.

[0026] In this embodiment, the agricultural machinery operation scheduling method based on BeiDou positioning includes steps S10 to S50: Step S10: Calculate the matching score of each agricultural machine for each task based on the dynamic evaluation model of agricultural machinery operation capability, and obtain the matching score result. It should be noted that the dynamic evaluation model for agricultural machinery operation capability refers to a standardized evaluation framework that integrates real-time location information from positioning terminals, agricultural machinery bus operating parameters, agronomic database adaptation parameters, and historical operation performance data. This framework is used to quantify the adaptability of each agricultural machine to each operational task. The model uses BeiDou positioning data as the time reference, crop type and soil moisture as agronomic constraints, and historical average operating efficiency and failure intervals as reliability weights, outputting a comparable numerical score.

[0027] It should be noted that the matching score result refers to a list of values ​​arranged according to the task dimension. Each record in the list includes the agricultural machinery number, task number, matching score value, and calculation timestamp, which are used for subsequent conflict judgment and scheduling decisions. The score results are temporarily stored in the platform's memory and are automatically updated after each round of scheduling calculation.

[0028] In one feasible implementation, step S10 includes steps A11 to A16: Step A11: Standardize and fuse the real-time location information of the agricultural machinery collected by the positioning terminal, the operating parameters collected by the agricultural machinery bus interface, the adaptation parameters retrieved from the agronomic database, and the performance data stored in the operation history database to obtain a standardized parameter set. Understandably, multi-source data standardization fusion refers to unifying data from different sources and with different dimensions into dimensionless values ​​and normalizing them to the same numerical range to obtain a standardized parameter set that can be directly calculated by the model. This step first performs coordinate system transformation and time alignment on the real-time location information, then unifies the dimensions of the operating parameters, then encodes and maps the adaptation parameters, and finally smooths the performance data, ultimately outputting a standardized parameter set.

[0029] Furthermore, this step has the benefit of eliminating data source discrepancies, ensuring the accuracy and comparability of subsequent score calculations.

[0030] Step A12: Based on the soil moisture values ​​and crop type codes in the standardized parameter set, dynamically adjust the operation speed weight factor and operation quality weight factor to obtain the dynamic weight configuration; Understandably, dynamically adjusting weighting factors refers to modifying the relative proportions of the speed and quality weights within the model in real time based on the current soil moisture value and crop type code, resulting in a dynamic weight configuration that reflects current agronomic needs. When soil moisture exceeds a preset threshold, the speed weight is reduced and the quality weight is increased; when the crop type is for emergency pest and disease control, the urgency weight is further increased.

[0031] Furthermore, the beneficial effect of this step is that it makes the scoring results more consistent with actual agronomic requirements, avoiding high-speed but low-quality or low-speed waste.

[0032] Step A13: Based on the dynamic weight configuration and the urgency level in the task information, calculate the matching score of each agricultural machine to each task through the dynamic evaluation model of agricultural machinery operation capability; Understandably, calculating the matching score involves multiplying and summing the standardized parameter set with the dynamic weight configuration, then adding an urgency level correction coefficient to obtain a single numerical score for each agricultural machine for each task. The calculation process uses a linear weighting method, and the result is rounded to two decimal places.

[0033] Furthermore, the beneficial effect of this step is that it transforms multidimensional parameters into directly comparable quantitative scores, providing a unique basis for subsequent conflict judgment.

[0034] Step A14: Sort the matching scores in descending order of task urgency to obtain the matching score results.

[0035] Understandably, descending order sorting refers to ranking the score list by task urgency as the primary key and matching score as the secondary key, resulting in a score list for each task dimension. After sorting, the top of the list contains records that are urgent and have a high matching score, while the bottom contains records that are ordinary and have a low matching score.

[0036] Furthermore, the beneficial effect of this step is that it prioritizes scheduling decisions for urgent tasks, ensuring that key plots are prioritized for operation during the wheat harvest window.

[0037] Step S20: Determine whether the score difference of each agricultural machine for the same task in the matching score results is less than the preset reliability threshold, and obtain the judgment result; It should be noted that the score difference refers to the difference between the scores of the agricultural machine with the highest score and the second highest score for the same task. The smaller the difference, the more intense the competition among the machines, and the more necessary it is to activate the conflict resolution mechanism.

[0038] It should be noted that the preset confidence threshold is a numerical limit set by the platform to identify fierce competition. The threshold is written into the configuration file during platform initialization and can be dynamically adjusted according to crop type or season.

[0039] In one feasible implementation, step S20 includes steps A21 to A24: Step A21: Extract the score data of each agricultural machine for the same task from the matching score results to obtain the score dataset; As you can understand, extracting rating data refers to using the task number as an index to filter out all records with ratings for that task from the results list, forming a rating dataset. The dataset includes the agricultural machinery number, the rating value, and the update timestamp.

[0040] Furthermore, this step has the advantage of quickly focusing on competing tasks, reducing the amount of subsequent computation.

[0041] Step A22: Calculate the difference between the maximum and minimum values ​​in the rating dataset to obtain the rating difference; Understandably, calculating the difference involves sorting the rating values ​​in the dataset, subtracting the minimum value from the maximum value, and obtaining a single numerical rating difference. The calculation result is written to a cache for further comparison.

[0042] Furthermore, the beneficial effect of this step is that it quantifies the intensity of competition with a single numerical value, simplifying the judgment logic.

[0043] Step A23: Compare the score difference with the preset reliability threshold to obtain the comparison result; As you can understand, comparison refers to comparing the calculated difference with a preset threshold and outputting a Boolean comparison result. The comparison result only has two states: "less than" or "greater than or equal to".

[0044] Furthermore, this step has the benefit of providing a clear start signal for the platform, avoiding ambiguous decision-making.

[0045] Step A24: When the comparison result shows that the score difference is less than the preset reliability threshold, the judgment result is determined to be that the conflict resolution mechanism needs to be activated.

[0046] Understandably, determining the judgment result means converting the Boolean comparison result into a start flag that the system can recognize, marking it as a "needs resolution" state. This flag triggers subsequent algorithm calls.

[0047] Furthermore, this step has the added benefit of ensuring that the conflict resolution mechanism is only invoked when truly needed, thus saving computational resources.

[0048] Step S30: When the judgment result is that the score difference is less than the preset confidence threshold, the multi-machine collaborative conflict resolution mechanism is activated to perform a bilateral matching algorithm on each agricultural machine and each operation task to obtain the target scheduling scheme. It should be noted that the multi-machine collaborative conflict resolution mechanism refers to the algorithm process by which the platform automatically outputs the optimal pairing when multiple agricultural machines score similarly for the same task, using the promised operation time and price as the arbitration basis.

[0049] It should be noted that the bilateral matching algorithm is a stable matching method that considers both agricultural machinery preferences and task preferences. The algorithm takes agricultural machinery parameter sets and task parameter sets as inputs and outputs a list of conflict-free pairs.

[0050] In one feasible implementation, step S30 includes steps A31 to A34: Step A31: Analyze the conflict resolution requirement information in the judgment result to obtain the parsed requirement information; Understandably, parsing the requirement information means reading the "needs to be resolved" markers from the judgment results and extracting the corresponding task number, number of agricultural machines, and conflict intensity description to form structured requirement information. The parsing results are then written to the cache.

[0051] Furthermore, this step has the benefit of providing clear guidance for subsequent parameter acquisition and avoiding invalid data reading.

[0052] Step A32: Based on the parsed demand information, obtain the promised operation time parameters and operation quotation parameters for each agricultural machine to obtain the agricultural machine parameter set; Understandably, obtaining the agricultural machinery parameter set refers to extracting values ​​from the promised time and price fields filled in by the machine owner, using the machine's serial number as the key, to form the agricultural machinery parameter set. The parameter set includes time and price values.

[0053] Furthermore, the beneficial effect of this step is that it transforms the owner's subjective will into a calculable input quantity, making the arbitration process more transparent.

[0054] Step A33: Based on the parsed requirement information, obtain the plot area parameters and urgency parameters of each task to obtain the task parameter set; Understandably, obtaining the task parameter set refers to retrieving the land parcel area and urgency level from the task database using the task number as the key, thus forming the task parameter set. The parameter set includes area and urgency level values.

[0055] Furthermore, the beneficial effect of this step is that it quantifies the objective attributes of the task, providing comparable inputs for the algorithm.

[0056] Step A34: Input the agricultural machinery parameter set and the task parameter set into the bilateral matching algorithm for calculation to obtain the initial pairing result; Understandably, input algorithm calculation refers to simultaneously feeding two sets of parameters into the bilateral matching engine. The engine internally executes stable matching logic and outputs a conflict-free initial pairing list. This list contains a one-to-one correspondence between agricultural machinery and tasks.

[0057] Furthermore, the beneficial effect of this step is that it eliminates human competition using mathematical methods, ensuring that the pairing results are stable and optimal.

[0058] Step A35: Execute conflict resolution rules on the multi-machine competition for the same task event in the initial pairing results to obtain the target scheduling scheme; Understandably, implementing conflict resolution rules means that when multiple machines are assigned to the same task in the initial pairing, final arbitration is conducted according to the rule of "shortest promised time and lowest bid" to obtain a unique target scheduling scheme. In this scheme, each agricultural machine corresponds to only one task.

[0059] Furthermore, the beneficial effect of this step is to completely eliminate competitive residues, ensuring that the output solution can be executed immediately.

[0060] Step A36: Output the target scheduling scheme to the path generation module so that the path generation module can generate job paths based on the target scheduling scheme.

[0061] As is understandable, outputting the scheme refers to writing the final pairing list into a message queue in standard JSON format. The path generation module subscribes to the queue and reads the scheme content. Once the output is complete, the path calculation process is triggered. Furthermore, this step has the benefit of decoupling between modules, ensuring seamless integration between subsequent path calculations and the current step.

[0062] Step S40: Generate a work path according to the target scheduling scheme and send the work path to the agricultural machinery positioning terminal for agricultural machinery operation.

[0063] It should be noted that the target scheduling scheme refers to the unique pairing list formed after conflict resolution. Each record in the list contains the agricultural machinery number, task number, plot boundary coordinates, and pairing timestamp, which are used for path calculation and instruction issuance.

[0064] It should be noted that the work path refers to a continuous sequence of coordinates from the current location to the boundary of the plot, along the inner line of the plot, and back to the starting point. The sequence is arranged in the order of the work and includes turning prompts.

[0065] In one feasible implementation, step S40 includes steps A41 to A46: Step A41: Parse the pairing information between agricultural machinery and work tasks in the target scheduling scheme to obtain the parsed pairing information; Understandably, parsing the pairing information involves reading the agricultural machinery number and task number fields from the solution, extracting the corresponding boundary coordinates and current position coordinates, and forming structured pairing information. The parsing results are written to a cache for subsequent steps.

[0066] Furthermore, this step has the advantage of providing clear start and end coordinates for path calculation, thus avoiding coordinate confusion.

[0067] Step A42: Obtain the plot boundary coordinate data of the task based on the parsed pairing information to obtain the task boundary data; Understandably, obtaining task boundary data refers to extracting the latitude and longitude coordinate strings of the plot boundaries from the GIS database using the task number as the key, thus forming the task boundary data. The data format is WKT coordinate strings.

[0068] Furthermore, this step has the added benefit of providing a precise working area for path calculation, ensuring that the path does not cross the boundary.

[0069] Step A43: Obtain the current position coordinates of the agricultural machinery based on the parsed pairing information to obtain the agricultural machinery position data; Understandably, obtaining agricultural machinery location data refers to extracting the current latitude and longitude from the latest message from the positioning terminal using the agricultural machinery's serial number as the key, thus forming the agricultural machinery location data. The data format is WGS84 coordinates. Furthermore, the beneficial effect of this step is that it provides an accurate starting point for path calculation, ensuring that the path starting point is consistent with the actual location.

[0070] Step A44: Calculate the path based on the task boundary data and the location data of the agricultural machinery to generate the operation path; Understandably, path calculation refers to using the location of the agricultural machinery as the starting point, the boundary of the plot as the working area, and the return starting point as the ending point, calling the path planning engine to generate a continuous coordinate sequence to form the working path. The path consists of three segments: the entry line, the working line, and the return line. Furthermore, the beneficial effect of this step is that it transforms the abstract pairing relationship into a drivable continuous coordinate system, reducing the need for operators to arbitrarily detour.

[0071] Step A45: Package the job path data into a command format path that can be recognized by the positioning terminal; Understandably, the packetized instruction format refers to the process of dividing, verifying, and encrypting a continuous coordinate sequence according to the BeiDou short message protocol to form an instruction format path that the positioning terminal can recognize. The format includes a frame header, coordinate string, and checksum.

[0072] Furthermore, this step has the added benefit of ensuring that path data can be reliably distributed even in public network blind spots, thus guaranteeing communication stability.

[0073] Step A46: Send the instruction format path to the agricultural machinery positioning terminal so that the agricultural machinery positioning terminal can receive and execute the operation instruction.

[0074] Understandably, sending instructions means transmitting the packaged path data frame by frame to the agricultural machinery positioning terminal through the BeiDou short message channel. After receiving the data, the terminal parses the coordinates and displays them on the vehicle screen. The operator then completes the operation by driving according to the coordinates.

[0075] Furthermore, the beneficial effect of this step is to achieve closed-loop distribution and execution, ensuring that the scheduling plan is implemented and reducing the probability of human error.

[0076] This embodiment provides a BeiDou positioning-based agricultural machinery operation scheduling method. By constructing a dynamic evaluation model of agricultural machinery operation capabilities and introducing a multi-machine collaborative conflict resolution mechanism, it upgrades traditional manual scheduling to data-driven automatic matching, eliminating disordered resource competition during the task allocation stage. Through real-time trajectory monitoring and dynamic path correction, a closed-loop control is formed during the operation execution stage, significantly reducing empty mileage and improving on-time operation rate. The model dynamically adjusts weights by integrating agronomic parameters such as soil moisture and crop type, making the scoring more closely match actual operation needs. The scoring difference judgment and bilateral matching algorithm ensure stable output of the optimal scheduling scheme when multiple machines compete for the same task. Path calculation and BeiDou short message transmission ensure accurate delivery of operation coordinates, and real-time trajectory deviation correction reduces missed strokes and detours. The entire process shortens the scheduling response time from hours to minutes, significantly reduces the empty mileage rate, and significantly improves the operation coverage and task on-time rate, providing a highly efficient and low-loss automated scheduling solution for cross-regional machine fleets.

[0077] Based on the first embodiment of this application, in the second embodiment of this application, the content that is the same as or similar to that in the first embodiment described above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 2 After step S40, steps S401 to S405 are also included: Step S401: During the operation, collect the actual running trajectory data of the agricultural machinery in real time at a preset reporting frequency to obtain the trajectory collection results; It should be noted that the preset reporting frequency refers to the interval at which the platform sets the location data transmission interval for each agricultural machine. The interval is set in the configuration file and can be adjusted according to the crop type to ensure the real-time nature of the trajectory data. The trajectory acquisition results refer to the stored latitude, longitude, speed, direction, and timestamp records, which are arranged in chronological order and accompanied by the agricultural machine number, for subsequent deviation calculations.

[0078] Understandably, the specific operation for real-time trajectory data acquisition is as follows: the platform receives coordinate frames uploaded by the Beidou positioning terminal at preset intervals, parses the coordinate frames into structured records and writes them into a cache queue to form trajectory acquisition results.

[0079] Furthermore, the beneficial effect of this step is that it provides a continuous, time-aligned location basis for deviation monitoring, avoiding misjudgments caused by breakpoints.

[0080] Step S402: Based on the trajectory acquisition results, monitor the deviation distance between the actual operating trajectory of the agricultural machinery and the operation path to obtain the deviation monitoring results; It should be noted that the work path refers to a continuous coordinate sequence generated by the platform based on the target scheduling plan. The sequence includes three coordinate segments: the entry line, the work line, and the return line, used to define the legal work area. The deviation distance value refers to the horizontal distance between the current position of the agricultural machinery and the nearest point on the work path. The distance is calculated using the spherical distance formula and rounded to one decimal place.

[0081] Understandably, the specific operation for monitoring deviations is as follows: the platform reads the trajectory collection results one by one, calculates the nearest distance between each coordinate and the work path, and writes the distance value and the corresponding timestamp into the deviation monitoring results.

[0082] Furthermore, the beneficial effect of this step is that it transforms the abstract path deviation into a quantifiable value, providing a clear basis for subsequent judgments.

[0083] Step S403: Determine whether the deviation distance value in the deviation monitoring result is greater than the preset deviation threshold, and obtain the deviation judgment result; It should be noted that the preset deviation threshold is a distance limit set by the platform to identify significant deviations. The limit value is configured during system initialization and can be dynamically adjusted according to the size of the land parcel. The deviation judgment result is a Boolean flag; a true flag indicates that path correction needs to be triggered.

[0084] Understandably, the specific operation for judging deviation is as follows: the platform compares the deviation distance value with the preset threshold one by one. When any distance value is greater than the threshold, a true form judgment result is immediately generated and subsequent comparisons are interrupted.

[0085] Furthermore, this step has the added benefit of avoiding leakage and fuel waste caused by continuous deviation, ensuring that the operation is always completed within the planned area.

[0086] Step S404: When the deviation judgment result is that the deviation distance value is greater than the preset deviation threshold, the correction path is replanned to obtain the path correction result; It should be noted that the path correction result refers to a new coordinate sequence with the current position of the agricultural machinery as the starting point and the remaining points of the original working path as the ending point. The sequence is consistent with the original path direction and avoids the already worked area, and is used to guide the agricultural machinery back to the legal trajectory.

[0087] Further, step S404 includes steps A51 to A53: Step A51: When the deviation judgment result is that the deviation distance value is greater than the preset deviation threshold, obtain the current position coordinates of the agricultural machinery and the coordinates of the remaining unoperated path points in the operation path; Understandably, the specific operation to obtain the current location and remaining point coordinates is as follows: the platform extracts the current latitude and longitude from the latest trajectory acquisition results, deletes the already completed points from the original operation path, retains the remaining point coordinates, and forms the start and end point dataset.

[0088] Furthermore, this step has the added benefit of ensuring that the starting point of the corrected path is accurate and the ending point is complete, avoiding repetition or omission.

[0089] Step A52: Recalculate the path based on the current location coordinates and the coordinates of the unworked path points to obtain the path correction result; Understandably, the specific operation of recalculating the path is as follows: the platform calls the path planning engine, takes the current position as the starting point and the remaining point sequence as the main line, generates a continuous coordinate sequence, and forms the path correction result.

[0090] Furthermore, the beneficial effect of this step is that it generates feasible trajectories in the shortest possible time, reducing operator waiting time and human intervention.

[0091] Step A53: Send the path correction result to the agricultural machinery positioning terminal so that the agricultural machinery can execute the corrected operation path.

[0092] Understandably, the specific operation for sending the correction results is as follows: the platform packages the new coordinate sequence according to the BeiDou short message protocol and sends it frame by frame to the agricultural machinery positioning terminal through the short message channel. After receiving the data, the terminal refreshes the display on the vehicle navigation screen.

[0093] Furthermore, the beneficial effect of this step is to achieve a closed-loop implementation of path correction, ensuring that the operator travels according to the new coordinates and reducing the risk of further deviation.

[0094] Step S405: Send the path correction result to the agricultural machinery positioning terminal so that the agricultural machinery positioning terminal can continue to operate according to the corrected path.

[0095] Understandably, continuing the work means that the operator re-enters the plot based on the refreshed coordinate sequence, completes the remaining work along the corrected path, and the platform continues to monitor until the task is completed.

[0096] Furthermore, this step has the benefit of ensuring the integrity of the operation and avoiding area loss and subsidy calculation errors caused by deviation.

[0097] This embodiment provides a BeiDou-based agricultural machinery operation scheduling method. By introducing a closed loop of real-time trajectory deviation monitoring and dynamic path correction during the operation phase, it upgrades the traditional "one-time path" to a "self-correcting" navigation mode. When the actual operating trajectory of the agricultural machinery deviates from the preset operation path by more than a threshold, the platform immediately obtains the current location and coordinates of the remaining operation points, recalculates and issues a corrected path, ensuring that the agricultural machinery always operates within the planned area. This closed-loop control reduces the operation omission rate by more than 40%, shortens the path deviation response time to the minute level, significantly reduces repetitive operations and fuel waste, and provides accurate and efficient operation execution guarantees for cross-regional machinery fleets.

[0098] This application also provides an agricultural machinery operation scheduling device based on BeiDou positioning, such as... Figure 3 As shown, the agricultural machinery operation scheduling device based on BeiDou positioning includes: The matching degree scoring module 10 is used to calculate the matching degree score of each agricultural machine for each operation task based on the dynamic evaluation model of agricultural machinery operation capability, and obtain the matching degree score result. The judgment module 20 is used to judge whether the score difference of each agricultural machine for the same task in the matching score result is less than the preset reliability threshold, and obtain the judgment result; The conflict resolution module 30 is used to activate the multi-machine collaborative conflict resolution mechanism to perform a bilateral matching algorithm on each agricultural machine and each operation task when the judgment result is that the score difference is less than the preset confidence threshold, so as to obtain the target scheduling scheme. The path generation module 40 is used to generate a work path according to the target scheduling scheme and send the work path to the agricultural machinery positioning terminal for agricultural machinery operation.

[0099] The agricultural machinery operation scheduling device based on BeiDou positioning provided in this application addresses the technical problem of how to accurately align and dynamically model multi-source heterogeneous data generated by BeiDou positioning terminals, IoT sensor nodes, and mobile terminals in the spatiotemporal dimensions, using the agricultural machinery operation scheduling method based on BeiDou positioning in the above embodiments. Compared with the prior art, the beneficial effects of the agricultural machinery operation scheduling device based on BeiDou positioning provided in this application are the same as those of the agricultural machinery operation scheduling method based on BeiDou positioning provided in the above embodiments, and other technical features in the agricultural machinery operation scheduling device based on BeiDou positioning are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0100] In one embodiment, the matching degree scoring module 10 is also used to perform multi-source data standardization fusion of the real-time location information of the agricultural machinery collected by the positioning terminal, the working condition parameters collected by the agricultural machinery bus interface, the adaptation parameters retrieved from the agronomic database, and the performance data stored in the operation history database to obtain a standardized parameter set. Based on the soil moisture values ​​and crop type codes in the standardized parameter set, the operation speed weight factor and operation quality weight factor are dynamically adjusted to obtain a dynamic weight configuration. Based on dynamic weight configuration and the urgency level in the task information, the matching score of each agricultural machine to each task is calculated through the dynamic evaluation model of agricultural machinery operation capability. The matching scores are sorted in descending order of the urgency of the task to obtain the matching score results.

[0101] In one embodiment, the judgment module 20 is further configured to extract the score data of each agricultural machine for the same task from the matching degree score results to obtain a score dataset; Calculate the difference between the maximum and minimum values ​​in the rating dataset to obtain the rating difference; The score difference is compared with a preset reliability threshold to obtain the comparison result; If the comparison result shows that the score difference is less than the preset reliability threshold, the judgment result is determined to be that the conflict resolution mechanism needs to be activated.

[0102] In one embodiment, the conflict resolution module 30 is further configured to parse the conflict resolution requirement information in the judgment result to obtain the parsed requirement information; Based on the parsed demand information, the promised operation time parameters and operation quotation parameters of each agricultural machine are obtained to obtain the agricultural machine parameter set; Based on the parsed demand information, obtain the plot area parameters and urgency parameters of each task to obtain the task parameter set; The agricultural machinery parameter set and the task parameter set are input into a bilateral matching algorithm for calculation to obtain the initial pairing result; Execute conflict resolution rules on multi-machine competition for the same task in the initial pairing results to obtain the target scheduling scheme; The target scheduling scheme is output to the path generation module, so that the path generation module can generate job paths based on the target scheduling scheme.

[0103] In one embodiment, the path generation module 40 is further configured to parse the agricultural machinery and operation task pairing information in the target scheduling scheme to obtain the parsed pairing information; Based on the parsed pairing information, obtain the plot boundary coordinate data of the task to obtain the task boundary data; The current position coordinates of the agricultural machinery are obtained based on the parsed pairing information, thus obtaining the agricultural machinery position data; Path calculation is performed based on task boundary data and agricultural machinery location data to generate the operation path; Package the job path data into a command format path that can be recognized by the positioning terminal; The instruction format path is sent to the agricultural machinery positioning terminal so that the agricultural machinery positioning terminal can receive and execute the operation instructions.

[0104] In one embodiment, the path generation module 40 is also used to collect the actual running trajectory data of the agricultural machinery in real time at a preset reporting frequency during the operation, and obtain the trajectory collection result; Based on the trajectory acquisition results, the deviation distance between the actual operating trajectory of agricultural machinery and the working path is monitored to obtain the deviation monitoring results; Determine whether the deviation distance value in the deviation monitoring result is greater than the preset deviation threshold to obtain the deviation judgment result; When the deviation judgment result is that the deviation distance value is greater than the preset deviation threshold, the correction path is replanned to obtain the path correction result; The path correction result is sent to the agricultural machinery positioning terminal so that the agricultural machinery positioning terminal can continue to operate according to the corrected path.

[0105] In one embodiment, the path generation module 40 is further configured to obtain the current position coordinates of the agricultural machinery and the coordinates of the remaining unoperated path points in the operation path when the deviation judgment result is that the deviation distance value is greater than a preset deviation threshold. The path is recalculated based on the current location coordinates and the coordinates of unworked path points to obtain the path correction result; The path correction results are sent to the agricultural machinery positioning terminal so that the agricultural machinery can execute the corrected operation path.

[0106] This application provides a BeiDou-based agricultural machinery operation scheduling device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the BeiDou-based agricultural machinery operation scheduling method in the above embodiment 1.

[0107] The following is for reference. Figure 4 The diagram illustrates a structural schematic of a BeiDou-based agricultural machinery operation scheduling device suitable for implementing embodiments of this application. The BeiDou-based agricultural machinery operation scheduling device in this application embodiment may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), vehicle terminals (e.g., vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 4 The agricultural machinery operation scheduling equipment based on Beidou positioning shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0108] like Figure 4As shown, the agricultural machinery operation scheduling equipment based on BeiDou positioning may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to the program stored in ROM (Read Only Memory) 1002 or the program loaded from storage device 1003 into RAM (Random Access Memory) 1004. RAM 1004 also stores various programs and data required for the operation of the BeiDou positioning-based agricultural machinery operation scheduling equipment. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via bus 1005. Input / output (I / O) interface 1006 is also connected to the bus. Yes, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the BeiDou-based agricultural machinery operation scheduling equipment to exchange data wirelessly or via wired communication with other devices. Although the figure shows BeiDou-based agricultural machinery operation scheduling equipment with various systems, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems can be implemented alternatively.

[0109] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0110] The agricultural machinery operation scheduling equipment based on BeiDou positioning provided in this application addresses the technical problem of how to accurately align and dynamically model multi-source heterogeneous data generated by BeiDou positioning terminals, IoT sensor nodes, and mobile terminals in the spatiotemporal dimensions using the agricultural machinery operation scheduling method based on BeiDou positioning in the above embodiments. Compared with the prior art, the beneficial effects of the agricultural machinery operation scheduling equipment based on BeiDou positioning provided in this application are the same as those of the agricultural machinery operation scheduling method based on BeiDou positioning provided in the above embodiments, and other technical features of this agricultural machinery operation scheduling equipment based on BeiDou positioning are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0111] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0112] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0113] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, which are used to execute the agricultural machinery operation scheduling method based on Beidou positioning in the above embodiments.

[0114] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, RAM (Random Access Memory), ROM (Read Only Memory), EPROM (Erasable Programmable Read Only Memory or Flash Memory), optical fibers, CD-ROM (CD-Read Only Memory), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0115] The aforementioned computer-readable storage medium may be included in agricultural machinery operation scheduling equipment based on BeiDou positioning; or it may exist independently and not be assembled into agricultural machinery operation scheduling equipment based on BeiDou positioning.

[0116] The aforementioned computer-readable storage medium carries one or more programs. When these programs are executed by a BeiDou-based agricultural machinery operation scheduling device, the BeiDou-based agricultural machinery operation scheduling device performs the following actions: calculates the matching score of each agricultural machine for each operation task based on a dynamic evaluation model of agricultural machinery operation capabilities, and obtains the matching score result; determines whether the score difference of each agricultural machine for the same task in the matching score result is less than a preset confidence threshold, and obtains a judgment result; when the judgment result is that the score difference is less than the preset confidence threshold, it initiates a multi-machine collaborative conflict resolution mechanism to perform a bilateral matching algorithm on each agricultural machine and each operation task, and obtains a target scheduling scheme; generates an operation path according to the target scheduling scheme, and sends the operation path to the agricultural machinery positioning terminal for agricultural machinery operation.

[0117] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including LAN (Local Area Network) or WAN (Wide Area Network)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0118] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0119] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0120] The readable storage medium provided in this application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-described agricultural machinery operation scheduling method based on BeiDou positioning. The technical problem addressed is how to accurately align and dynamically model the spatiotemporal dimensions of multi-source heterogeneous data generated by BeiDou positioning terminals, IoT sensor nodes, and mobile terminals. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the agricultural machinery operation scheduling method based on BeiDou positioning provided in the above embodiments, and will not be repeated here.

[0121] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the agricultural machinery operation scheduling method based on BeiDou positioning as described above.

[0122] The computer program product provided in this application addresses the technical problem of accurately aligning and dynamically modeling multi-source heterogeneous data generated by BeiDou positioning terminals, IoT sensor nodes, and mobile terminals in the spatiotemporal dimensions. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the agricultural machinery operation scheduling method based on BeiDou positioning provided in the above embodiments, and will not be repeated here.

[0123] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A method for scheduling agricultural operation based on Beidou positioning, characterized in that, The method comprises: calculating the matching degree score of each agricultural machine for each operation task based on an agricultural machine operation ability dynamic evaluation model to obtain a matching degree score result; judging whether the score difference of each agricultural machine for the same task in the matching degree score result is less than a pre-set confidence threshold to obtain a judgment result; when the judgment result is that the score difference is less than the pre-set confidence threshold, starting a multi-machine cooperative conflict resolution mechanism to perform a bilateral matching algorithm on each agricultural machine and each operation task to obtain a target scheduling scheme; generating an operation path according to the target scheduling scheme and sending the operation path to an agricultural machine positioning terminal for agricultural machine operation.

2. The method of claim 1, wherein, The step of calculating the matching degree score of each agricultural machine for each operation task based on the agricultural machine operation ability dynamic evaluation model to obtain a matching degree score result comprises: standardizing and fusing the agricultural machine real-time position information collected by the positioning terminal, the working condition parameters collected by the agricultural machine bus interface, the adaptive parameters retrieved from the agronomy database, and the performance data stored in the operation history database to obtain a standardized parameter set; dynamically adjusting the operation speed weight factor and the operation quality weight factor according to the soil humidity value and the crop type code in the standardized parameter set to obtain a dynamic weight configuration; calculating the matching degree score of each agricultural machine for each operation task based on the dynamic weight configuration and the emergency level in the operation task information through the agricultural machine operation ability dynamic evaluation model; arranging the matching degree scores in descending order according to the emergency level of the operation task to obtain a matching degree score result.

3. The method of claim 1, wherein, The step of judging whether the score difference of each agricultural machine for the same task in the matching degree score result is less than a pre-set confidence threshold to obtain a judgment result comprises: extracting the score data of each agricultural machine for the same task from the matching degree score result to obtain a score data set; calculating the difference between the maximum value and the minimum value in the score data set to obtain a score difference; comparing the score difference with the pre-set confidence threshold to obtain a comparison result; when the comparison result is that the score difference is less than the pre-set confidence threshold, determining that the judgment result is that the conflict resolution mechanism needs to be started.

4. The method of claim 1, wherein, The step of, when the judgment result is that the score difference is less than the pre-set confidence threshold, starting a multi-machine cooperative conflict resolution mechanism to perform a bilateral matching algorithm on each agricultural machine and each operation task to obtain a target scheduling scheme comprises: analyzing the conflict resolution demand information in the judgment result to obtain analyzed demand information; obtaining the operation commitment time parameter and the operation offer parameter of each agricultural machine according to the analyzed demand information to obtain an agricultural machine parameter set; obtaining the plot area parameter and the emergency level parameter of each operation task according to the analyzed demand information to obtain a task parameter set; inputting the agricultural machine parameter set and the task parameter set into a bilateral matching algorithm for calculation to obtain an initial pairing result; performing a conflict resolution rule on the multi-machine competition for the same task event in the initial pairing result to obtain a target scheduling scheme; Output the target scheduling scheme to a path generation module, so that the path generation module generates a job path based on the target scheduling scheme.

5. The method of claim 1, wherein, The step of generating a job path according to the target scheduling scheme and sending the job path to a farm machine positioning terminal for farm machine operation comprises: parsing farm machine and job task pairing information in the target scheduling scheme to obtain parsed pairing information; obtaining plot boundary coordinate data of a job task according to the parsed pairing information to obtain task boundary data; obtaining current position coordinate data of a farm machine according to the parsed pairing information to obtain farm machine position data; performing path calculation based on the task boundary data and the farm machine position data to generate a job path; packing the job path data into an instruction format path recognizable by the positioning terminal; sending the instruction format path to the farm machine positioning terminal so that the farm machine positioning terminal receives and executes job instructions.

6. The method of claim 1, wherein, The method further comprises: collecting actual running track data of the farm machine in real time at a preset reporting frequency during the operation to obtain track collection results; monitoring a deviation distance value of the actual running track of the farm machine from the job path based on the track collection results to obtain deviation monitoring results; judging whether the deviation distance value in the deviation monitoring results is greater than a preset deviation threshold to obtain a deviation judgment result; when the deviation judgment result is that the deviation distance value is greater than the preset deviation threshold, re-planning a corrected path to obtain a path correction result; sending the path correction result to the farm machine positioning terminal so that the farm machine positioning terminal continues the operation according to the corrected path.

7. The method of claim 6, wherein, The step of re-planning a corrected path when the deviation judgment result is that the deviation distance value is greater than the preset deviation threshold to obtain a path correction result comprises: when the deviation judgment result is that the deviation distance value is greater than the preset deviation threshold, obtaining current position coordinates of the farm machine and remaining unoperated path point coordinates in the job path; re-calculating a path based on the current position coordinates and the unoperated path point coordinates to obtain a path correction result; sending the path correction result to the farm machine positioning terminal so that the farm machine executes the corrected job path.

8. A device for scheduling agricultural operation based on Beidou positioning, characterized in that, The device comprises: a matching degree scoring module configured to calculate matching degree scores of each farm machine for each job task based on a farm machine operation capability dynamic evaluation model to obtain matching degree score results; a judgment module configured to judge whether score differences of each farm machine for the same task in the matching degree score results are less than a preset confidence threshold to obtain a judgment result; a conflict resolution module configured to, when the judgment result is that the score difference is less than the preset confidence threshold, start a multi-machine coordination conflict resolution mechanism to perform a bilateral matching algorithm on each farm machine and each job task to obtain a target scheduling scheme; a path generation module configured to generate a job path according to the target scheduling scheme and send the job path to a farm machine positioning terminal for farm machine operation.

9. A farm machine operation scheduling device based on Beidou positioning, characterized in that, The device comprises a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the agricultural machinery operation scheduling method based on Beidou positioning according to any one of claims 1 to 7.

10. A storage medium, characterized by The storage medium is a computer readable storage medium, and the storage medium stores a computer program, and the computer program is executed by the processor to implement the steps of the agricultural machinery operation scheduling method based on Beidou positioning according to any one of claims 1 to 7.

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