CN111612644A - Agricultural machinery cooperative operation method based on smart phone - Google Patents
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Abstract
The invention discloses an agricultural machinery cooperative operation method based on a smart phone, belonging to the technical field of agricultural application; firstly, inputting on-site cooperative operation information of each agricultural machine by an agricultural machine cooperative operation App of the smart phone and a server; according to the characteristics of the agricultural machinery operating in the field, noise data points are removed, the smart phone acquires original measurement data of a field GNSS global navigation satellite system through the agricultural machinery cooperative operation App, and strips where the agricultural machinery is located are analyzed, calculated and displayed on a graphical interface; when the operating strip state of a certain agricultural machine changes, information is sent to a server, the operating conditions of other agricultural machines are obtained from the server, and the operating area of the agricultural machine is updated; the invention has simple operation principle and is easy to understand; the system can directly guide the operation of a manipulator, and is particularly suitable for the conditions of more working procedures, more agricultural machinery and large land area.
Description
Technical Field
The invention belongs to the technical field of agricultural application, and particularly relates to an agricultural machinery cooperative operation method based on a smart phone; in particular to a multi-agricultural machinery multi-process cooperative operation method based on a smart phone.
Background
In recent years, the automatic driving agricultural machinery equipment in China is developed rapidly, the requirement of agricultural machinery operation on the proficiency of drivers is reduced through the automatic driving equipment, the operation efficiency is improved, and the labor cost of the agricultural machinery operation is reduced. When a plurality of processes are carried out in one agricultural field and a plurality of agricultural machines operate in a centralized way, how to manage and schedule the agricultural machines becomes a prominent problem.
The existing intelligent agricultural machinery system basically mainly adopts a single machine system, and the operation conditions of a plurality of procedures of a plurality of agricultural machinery are mainly managed by people. When a plurality of agricultural machines work simultaneously in a plurality of processes, each agricultural machine driver only knows the operation condition of the driver, the operation conditions of adjacent processes or other agricultural machines in the same process cannot be solved, and the management and scheduling are easily disordered under the condition that the number of the agricultural machines in the field and the operation processes are more, so that the operation efficiency is influenced.
The academic world already has research on the method for carrying out agricultural machinery cooperative operation based on the intelligent mobile phone, the used scheme is to modify the software setting of agricultural machinery intelligent equipment, send the position data of the intelligent equipment to the server of the intelligent equipment, and the mobile phone obtains the position data of the agricultural machinery from the server to update the operation interface. The intelligent agricultural machinery position data processing method has the advantages that the intelligent agricultural machinery position data are subjected to differential processing, are centimeter-level high-precision agricultural machinery position data, and do not need to perform other processing on the data. The intelligent agricultural machinery management system has the advantages that intelligent equipment manufacturers are required to modify equipment software settings, some cooperative agencies use equipment of multiple manufacturers at the same time, information among the manufacturers is not shared, used technologies and standards are not unified, the cooperative agencies are difficult to manage the intelligent agricultural machinery in a unified mode, and difficulty in use and popularization is increased.
With the development of chip technology and positioning algorithm, the positioning accuracy of the smart phone is higher and higher, in recent years, home-made mobile phone manufacturers such as millet, Huashi and the like have provided dual-frequency GPS smart phones, the receiving frequency bands of the smart phones are changed from the original single L1 and E1 into two frequency bands of L1/L5 and E1/E5, the interference of physical factors such as the atmosphere and the like on the positioning accuracy of the mobile phone is effectively eliminated, it is expected that the use of a GNSS dual-frequency receiving chip by the smart phones in the future is a great trend, and the positioning algorithm and the positioning accuracy of the smart phones are better and better. The intelligent mobile phone is used for managing the agricultural machinery cooperative operation, so that the problems of management of agricultural machinery and intelligent equipment operation of different manufacturers selected by cooperative agencies and operation data sharing are solved. When a plurality of processes work simultaneously in agricultural production, the whole work condition can be known through the mobile phone, the problem of a single machine system of a driver at present is solved, the work efficiency is improved, and the agricultural machine scheduling and management are facilitated; the problem of accuracy optimization of the mobile phone in a specific working scene is solved.
Disclosure of Invention
The invention aims to provide an agricultural machinery cooperative operation method based on a smart phone,
the agricultural machinery cooperative operation method based on the smart phone comprises the following steps:
step 3, the smart phone acquires field GNSS data through the agricultural machinery cooperative operation App, analyzes and calculates the position of a strip where the agricultural machinery is located, and displays the strip on a graphical interface; when the operating strip state of a certain agricultural machine changes, information is sent to a server, the operating conditions of other agricultural machines are obtained from the server, and the operating area of the agricultural machine is updated;
the server-side program is developed by using Go language, the problem of multiple concurrent accesses can be better solved, and the server database stores information of fields and fields of cooperative society, information of agricultural machinery and staff and information of robots; the agricultural machinery operation state information is stored in real time during the agricultural machinery operation, and meanwhile, the operation states of different agricultural machinery in the previous process and the same process of the current agricultural machinery operation can be sent to the current agricultural machinery for updating the current agricultural machinery operation area;
step 4, optimizing the precision of the mobile phone, eliminating noise data according to the step 2, averaging 5 adjacent data points to serve as an effective data point, averagely delaying the updated data of the agricultural machine interface for 2-2.1 seconds after optimization, wherein the precision of the mobile phone can reach plus or minus 1m during operation; the width of the conventional agricultural machine mounted machine is mostly more than 3m at present, and the precision of the processed double-frequency mobile phone can meet the operation requirement.
And 5, realizing near real-time planning of the agricultural machinery operation area, calculating an operation strip where the agricultural machinery is located, and dividing the operation state of the strip into: the method comprises the following steps of three conditions of unavailable operation, waiting operation and operated operation, namely, a stop sign is used for representing an unavailable operation area, a five-pointed star is used for representing an operated area, and a diamond is used for representing an operable but not yet operated area; after the state of the agricultural machinery operation strip is changed, information is sent to a server database for storage in real time, meanwhile, a local database of the mobile phone can be backed up, and agricultural machinery in subsequent processes can update own operation area by requesting server data; the average strip updating delay is 2-2.1 seconds
The step 4 is to perform specific operation of counting and analyzing the accuracy of the unprocessed original data of the mobile phone to be plus or minus 3.5 meters, and after noise processing is eliminated, calculating the average value of adjacent 3 points as the accuracy of the data of the current time position, wherein the accuracy can be improved to be plus or minus 1.7 meters; the average precision of adjacent 5 points can reach plus or minus 1 meter; compared with the two, the obtained averaging data of the adjacent 5 points is smoother than the averaging trajectory line of the adjacent 3 points, and the singular point eliminating effect is better.
The updating of the App interface at the mobile phone end is mainly the updating of the state of a current operating strip of the agricultural machine, namely the updating of an operated area, an unoperated area and an operable area, and the updating of the operable area needs to know the operating condition of the last procedure of the current procedure and can be obtained by accessing a server; the database comprises a farmland information table, an agricultural machinery information table and a user information management table of a cooperative society; an operation information table and a strip updating table of agricultural machinery operation; the farmland information table records farmland information owned by a cooperative, mainly geographical information of each farmland, and stores the geographical information in the farmland information table in the form of each point coordinate of a polygon; the user information management table records information of cooperative agent managers and agricultural operators, and the information comprises user names and passwords for App landing, names and contact ways of the agricultural operators; the agricultural machinery information table records the type of the agricultural machinery, the serial number of the agricultural machinery and the information of the machine tool carried by the agricultural machinery; the operation information table records all operation data of UTM coordinates, ground speed, acquisition time, ground course, number of strips, selected process number, agricultural machinery number and the name of a manipulator; the strip updating table records the process number, the number of the operation strip and the data acquisition time; each process has a stripe update table, and when the next process requests data from the server, the stripe information completed by the previous process is also obtained through the table.
After the operation is started, the mobile phone terminal App can acquire GNSS data information of the mobile phone in real time according to the sampling frequency of 1Hz, after the data denoising and the adjacent 5-point averaging in the step 2, the effective point UTM coordinate, the ground speed, the acquisition time, the ground course, the number of the located bands, the selected number of the working procedures and the agricultural machinery number can be sent to the server to be stored in the database, meanwhile, the data can also be stored in a temporary table of a local SQLite database of the mobile phone, the area and the track of the operation completion can be known through the temporary table, a user can inquire and update an interface conveniently, and the temporary table is deleted after the operation is completed.
The invention has the advantages that the operation principle is simple and easy to understand; the system can directly guide the operation of a manipulator, and is particularly suitable for the conditions of more working procedures, more agricultural machinery and large land area.
Drawings
Fig. 1 is an error diagram of the mobile phone positioning accuracy after averaging of adjacent 3 points.
Fig. 2 is a diagram of five-point average error of positioning accuracy of a mobile phone.
Fig. 3 is a schematic view of a strip for judging the location of an agricultural machine according to the position data of the mobile phone.
Fig. 4 is a diagram of the mobile phone App and the server architecture.
FIG. 5 is a flow chart of the interface of the agricultural machinery.
FIG. 6 is mobile phone App main interface diagram
Detailed Description
The invention provides an agricultural machinery cooperative operation method based on a smart phone, which comprises the following steps:
step 3, the smart phone acquires field GNSS data through the agricultural machinery cooperative operation App, analyzes and calculates the position of a strip where the agricultural machinery is located, and displays the strip on a graphical interface; when the operating strip state of a certain agricultural machine changes, information is sent to a server, the operating conditions of other agricultural machines are obtained from the server, and the operating area of the agricultural machine is updated;
the server-side program is developed by using Go language, the problem of multiple concurrent accesses can be better solved, and the server database stores information of fields and fields of cooperative society, information of agricultural machinery and staff and information of robots; the agricultural machinery operation state information is stored in real time during the agricultural machinery operation, and meanwhile, the operation states of different agricultural machinery in the previous process and the same process of the current agricultural machinery operation can be sent to the current agricultural machinery for updating the current agricultural machinery operation area;
step 4, optimizing the precision of the mobile phone, eliminating noise data according to the step 2, averaging 5 adjacent data points to serve as an effective data point, averagely delaying the updated data of the agricultural machine interface for 2-2.1 seconds after optimization, wherein the precision of the mobile phone can reach plus or minus 1m during operation; the width of the conventional agricultural machine mounted machine is mostly more than 3m at present, and the precision of the processed double-frequency mobile phone can meet the operation requirement.
And 5, realizing near real-time planning of the agricultural machinery operation area, calculating an operation strip where the agricultural machinery is located, and dividing the operation state of the strip into: the method comprises three conditions of unavailable operation, waiting operation and operated operation, wherein a stop sign is used for representing an unavailable operation area, a five-pointed star is used for representing an operated area, and a diamond is used for representing an operable but not yet operated area; after the state of the agricultural machinery operation strip is changed, information is sent to the server database to be stored in real time, meanwhile, the local database of the mobile phone can be backed up, and agricultural machinery in subsequent processes can update own operation area by requesting server data.
Examples
The method comprises the steps of selecting a millet 8 dual-frequency smart phone, reading data such as $ GPGGA, $ GPRMC, $ GPGSV and the like in GNSS data of the mobile phone, and including information such as longitude, latitude, ground course and signal-to-noise ratio of the data. Due to the particularity of field operation, the effective operation path of the agricultural machine (the operation path of the agricultural machine in a field strip) is parallel to move back and forth, the ground course is fixed, and the difference between the back and forth is 180 degrees; the speed is small and the change is not large during operation. According to the characteristics, the data with small signal-to-noise ratio and the data with the course not in the required range are eliminated. The sampling frequency of the GNSS data of the mobile phone is 1Hz, effective data after noise data are removed are further processed, a data mean value of 5 seconds is selected and counted as current data, and if the agricultural machinery makes a turn-around behavior (judged by ground course), a time window of 5 seconds is accumulated from the 1 st second again.
TABLE 1 SNR data collected
As shown by the SNR data collected in the table 1, the SNR of the data collected by 07: 43: 08(UTC time) is less than 30, which indicates that the data is relatively noisy, and the data is discarded, wherein the moving direction of the agricultural machinery is 271.5 degrees or 91.5 degrees; the deviation of the data angle collected by 07: 43: 10 and the central angle of the agricultural machinery movement is more than 6 degrees, the data is discarded, the longitude and latitude of the reserved adjacent 5 pieces of data are averaged to be used as the position data of the time of 07: 43: 14, and the effective data of the adjacent 5 points in the table 1 are 116 degrees 21.2827278 degrees and 40 degrees 0.1560936 degrees. The mobile phone position updating has more than 2s of delay, the agricultural machinery operation speed is slow, and the influence of the delay on the efficiency of the agricultural machinery operation can be accepted. Under the specific environment of agricultural machinery field operation, the method can further improve the positioning accuracy on the basis of the double-frequency mobile phone to a certain extent.
As shown in fig. 1, the average post-error graph of adjacent 3 points, in which the dotted line is the linear data collected by i90 plotted in watson, and the solid line is the mobile phone detection track; the dotted line is the detection track of i90 plotted in Hua Zheng, and the error graph after the averaging of adjacent 5 points shown in FIG. 2; the solid line is the mobile phone detection track and the dotted line is the detection track of i90 in Huashi province; the accuracy of the raw data which is not processed by the mobile phone is counted and analyzed to be plus or minus 3.5 meters, the accuracy of the data after noise processing is removed, the average value of the adjacent 3 points is calculated to be used as the data of the current time and the position, the accuracy can be improved to be plus or minus 1.7 meters, and the accuracy of the average value of the adjacent 5 points can reach plus or minus 1 meter. As can be seen from the figure, the averaging data of the adjacent 5 points is smoother and better in singular point elimination effect than the averaging trajectory of the adjacent 3 points;
in the embodiment, 5-point average data shown in fig. 2 is selected; the longitude and latitude of the position point information directly acquired from the mobile phone is in WGS-84 format, the unit is degree, in order to facilitate distance numerical calculation, the longitude and latitude (L, B) coordinate with the unit of degree is converted into UTM coordinate (x, y), the unit is meter, and the conversion formula is as follows:
x＝Ax0(3)
y＝Ax0+500000 (4)
x in equation (1) is the arc length between parallel circles starting from the equator to any latitude B, p 'is the second value 206264.806 of 1 radian, L' is the second value 3600 of the difference between the precision and the central meridian precision (L-L)0) The value of A in the formulas (3) and (4) is 0.9996.
a is the earth's major semi-axis length 6378245.
t＝tanB (6)
η2＝e2cos2B (7)
The obtained UTM coordinates can be directly subjected to numerical calculation.
Fig. 3 is a schematic diagram of a strip where the agricultural machinery is judged according to the position data of the mobile phone, the strip of the farmland is calculated and generated according to farmland boundary information, operation width, operation procedures and an AB line, the AB line is a farmland datum line which is set manually, and the strip can be generated in parallel to the datum line. And establishing a plane rectangular coordinate system by taking the UTM coordinate of the point A as the coordinate origin, taking the Y-axis positive direction of the coordinate system in the direction of the line AB and taking a line which passes through the point A and is vertical to the line AB as the X-axis according to a right-hand rule, and taking the coordinate difference value of other points and the point A as the coordinate of the point. And calculating a central line equation x (d/2 + d (i-1)) of each strip by using the current point information, wherein d is the operation width, i is the strip number, and x is the difference between the current point and the abscissa of the coordinate origin. The value x can be obtained through UTM coordinates, and if the value x is brought into public to obtain the value i, the point is considered to fall in the strip i, and the agricultural machine is considered to work in the strip i; l1, L2, L3 and L4 are the names of bands.
Fig. 4 is a diagram showing the design and architecture of the mobile phone App and the server, and the operation of the mobile phone App is divided into three steps as shown in the figure. In the operation preparation stage, operation procedures, operation width and AB lines need to be manually selected or input, the land parcel information needs to be acquired by accessing a server database, and the manually input AB lines are also transmitted to the server and recorded in the database.
After the operation is started, the agricultural machinery cooperative operation App can acquire GNSS data information of the mobile phone in real time according to the sampling frequency of 1Hz, after the data are denoised and the adjacent 5-point average is carried out, the effective point UTM coordinate, the ground speed, the acquisition time, the ground course, the number of the strips, the selected number of the working procedures and the agricultural machinery number are sent to the server to be stored in the database, meanwhile, the data are also stored on a temporary table of a local SQLite database of the mobile phone, the area and the track of the operation completion can be known through the temporary table, the inquiry and the interface update of a user are facilitated, and the temporary table is deleted after the operation is completed.
The updating of the App interface at the mobile phone end is mainly strip state updating (operated and not operated) and operable area updating of the current agricultural machinery operation, information required by strip state updating can be provided through the last step, and a strip where the agricultural machinery is located can be judged by the current coordinate; the update of the workable area requires knowing the working condition of the previous process of the current process, and can be obtained by accessing the server. The update condition is set to every 1 second or 2 meters of movement of the mobile phone coordinates.
A server-side database selects an open-source relational database postgresql; and the development language is a go language and is used for processing the interaction between the client and the database of the server.
The database comprises a farmland information table, an agricultural machinery information table and a user information management table of a cooperative society; an operation information table and a strip updating table for agricultural machine operation.
The farmland information table records farmland information owned by a cooperative, mainly geographical information of each farmland, and stores the geographical information in the farmland information table in the form of each point coordinate of a polygon; the user information management table records information of cooperative agent managers and agricultural operators, and the information comprises user names, passwords, names, contact ways and the like for App landing; the agricultural machinery information table records information such as agricultural machinery type, agricultural machinery number, machines and tools mounted on the agricultural machinery and the like; the operation information table records all operation data of UTM coordinates, ground speed, acquisition time, ground course, number of strips, selected process number, agricultural machinery number and the name of a manipulator; and the strip updating table records the process number, the number of the operation strip and the data acquisition time.
Each process has a stripe update table, and when the next process requests data from the server, the stripe information completed by the previous process is also obtained through the table.
Fig. 5 is a flowchart of an agricultural machine updating operation interface, where App reads the GNSS data of the mobile phone, and if the piece of data is noise data, it discards the piece of data, and collects the data again, and if it is valid data, it needs to process the point, and calculates by the above-described averaging method of the adjacent 5-point data.
Dividing a strip into a plurality of states of inoperable, inoperable and operated, respectively representing the states by different colors, and if a plurality of agricultural machines work in the same process, equally dividing the operable area of the process to each agricultural machine according to data information acquired from a server; if other processes exist before the process, the operation condition of the process before the current process is obtained from the server side, and then the self operable area is updated according to the operation width.
And judging the strip where the agricultural machine is located according to the position coordinate point of the agricultural machine which is the effective GNSS data acquired from the mobile phone, marking the strip as operated after the agricultural machine finishes operating one strip and enters the next strip, and simultaneously sending a strip updating table of an operation information updating database to the server, wherein the next process can acquire the information updating operable area.
Fig. 6 is a diagram of a main interface of an App of a mobile phone, when the App is used, a farm machinery driver needs to input a user name and a password to log in an account, and the App enters the main interface after successful logging in.
Before the operation, the name of the farmland to be operated and the working procedure need to be selected, the working width is manually input, the AB line can be manually input (expressed in the coordinate form of A point WGS-84 and B point WGS-84, and the longitude and latitude are separated by commas), or the AB line information of the latest operation of the farmland can be downloaded from a server by clicking a synchronous button. After inputting the information needed by the preparation job, clicking the start button generates a job interface.
The embodiment selects two working procedures of plowing and harrowing, wherein the width of plowing is 5 meters, the width of harrowing is 8 meters, and each working procedure is provided with one agricultural machine. After the plowing process, the harrowing process needs to work, and fig. 6 is a work interface diagram of the harrowing process, wherein a dark green area is a worked area of the harrowing process, a light green area is an area where the plowing process is completed, and a gray area is an area where the plowing process is not completed.
The interface is simple to understand, can directly guide the operation of a manipulator, and is particularly suitable for the conditions of multiple working procedures, multiple agricultural machines and large land area.
Claims (4)
1. An agricultural machinery cooperative operation method based on a smart phone is characterized by comprising the following steps:
step 1, firstly, inputting cooperative operation information of all agricultural machinery on site by a smart phone App and a server;
step 2, reading GNSS (global navigation satellite system) original measurement data by using a dual-frequency GPS smart phone, removing noise data points according to the field operation characteristics of agricultural machinery, namely removing data points with the ground course angle more than plus or minus 6 degrees different from the direction of a reference line and points with the signal-to-noise ratio less than 30 in the GNSS original data, and further smoothing errors by using an adjacent 5-point average value method;
step 3, the smart phone acquires field GNSS data through the agricultural machinery cooperative operation App, analyzes and calculates the position of a strip where the agricultural machinery is located, and displays the strip on a graphical interface; when the operating strip state of a certain agricultural machine changes, information is sent to a server, the operating conditions of other agricultural machines are obtained from the server, and the operating area of the agricultural machine is updated;
the server-side program is developed by using Go language, the problem of multiple concurrent accesses can be better solved, and the server database stores information of fields and fields of cooperative society, information of agricultural machinery and staff and information of robots; the agricultural machinery operation state information is stored in real time during the agricultural machinery operation, and meanwhile, the operation states of different agricultural machinery in the previous process and the same process of the current agricultural machinery operation can be sent to the current agricultural machinery for updating the current agricultural machinery operation area;
step 4, optimizing the precision of the mobile phone, eliminating noise data according to the step 2, averaging 5 adjacent data points to serve as an effective data point, averagely delaying the updated data of the agricultural machine interface for 2-2.1 seconds after optimization, wherein the precision of the mobile phone can reach plus or minus 1m during operation; the width of the conventional agricultural machine mounting machine is mostly more than 3m at present, and the precision of the processed double-frequency mobile phone can meet the operation requirement;
and 5, realizing near real-time planning of the agricultural machinery operation area, calculating an operation strip where the agricultural machinery is located, and dividing the operation state of the strip into: three operation areas of non-operation, waiting operation and operated operation; after the state of the agricultural machinery operation strip is changed, information is sent to a server database for storage in real time, meanwhile, a local database of the mobile phone can be backed up, and agricultural machinery in subsequent processes can update own operation area by requesting server data; the stripe update delay is 2-2.1 seconds on average.
2. The agricultural machinery cooperative operation method based on the smart phone as claimed in claim 1, wherein the specific operation in step 4 is to statistically analyze whether the accuracy of the unprocessed original data of the mobile phone is plus or minus 3.5 meters, and to eliminate the noise processed data to obtain the average value of adjacent 3 points as the accuracy of the data of the current time position, which can be increased to plus or minus 1.7 meters; the average precision of adjacent 5 points can reach plus or minus 1 meter; compared with the two, the obtained averaging data of the adjacent 5 points is smoother than the averaging trajectory line of the adjacent 3 points, and the singular point eliminating effect is better.
3. The agricultural machinery cooperative operation method based on the smart phone as claimed in claim 1, wherein the mobile phone App interface update is mainly an update of a strip state of current agricultural machinery operation, namely an update of an operated area, an unoperated area and an operable area, and the update of the operable area requires knowing an operation condition of a previous process of the current process and can be obtained by accessing a server; the database comprises a farmland information table, an agricultural machinery information table and a user information management table of a cooperative society; an operation information table and a strip updating table of agricultural machinery operation; the farmland information table records farmland information owned by a cooperative, mainly geographical information of each farmland, and stores the geographical information in the farmland information table in the form of each point coordinate of a polygon; the user information management table records information of cooperative management personnel and agricultural operators, and the information comprises a user name, a password, a name of the operator and a contact way for logging on by the App at the mobile phone end; the agricultural machinery information table records the type of the agricultural machinery, the serial number of the agricultural machinery and the information of the machine tool carried by the agricultural machinery; the operation information table records all operation information such as UTM (universal transverse ink card grid system) coordinates, ground speed, acquisition time, ground course, number of strips, selected number of processes, agricultural machinery number, name of a mobile phone and the like; the strip updating table records the process number, the number of the operation strip and the data acquisition time; each process has a stripe update table, and when the next process requests data from the server, the stripe information completed by the previous process is also obtained through the table.
4. The agricultural machinery cooperative operation method based on the smart phone as claimed in claim 1, wherein after the operation is started, the mobile phone terminal App acquires GNSS data information of the mobile phone in real time according to a sampling frequency of 1Hz, and after the data denoising and the adjacent 5-point averaging in the step 2, the UTM coordinate of the effective point, the ground speed, the acquisition time, the ground heading, the number of bands where the effective point is located, the selected number of processes, and the agricultural machinery number are sent to the server and stored in the database, and the data are stored in a temporary table in the local SQLite database of the mobile phone, so that the area and track of the operation can be updated through the table, the query and the interface update of a user are facilitated, and the temporary table is deleted after the operation is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010449440.0A CN111612644A (en) | 2020-05-25 | 2020-05-25 | Agricultural machinery cooperative operation method based on smart phone |
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