WO2023221501A1 - 农机信息共享方法、系统、电子设备及存储介质 - Google Patents

农机信息共享方法、系统、电子设备及存储介质 Download PDF

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Publication number
WO2023221501A1
WO2023221501A1 PCT/CN2022/140885 CN2022140885W WO2023221501A1 WO 2023221501 A1 WO2023221501 A1 WO 2023221501A1 CN 2022140885 W CN2022140885 W CN 2022140885W WO 2023221501 A1 WO2023221501 A1 WO 2023221501A1
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data
coordinate
position coordinate
coordinate data
points
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PCT/CN2022/140885
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English (en)
French (fr)
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屈航浪
桑燕五
叶彬洁
吴迪
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丰疆智能科技股份有限公司
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Publication of WO2023221501A1 publication Critical patent/WO2023221501A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/29—Geographical information databases
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/10—File systems; File servers
    • G06F16/11—File system administration, e.g. details of archiving or snapshots
    • G06F16/116—Details of conversion of file system types or formats
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/10—File systems; File servers
    • G06F16/16—File or folder operations, e.g. details of user interfaces specifically adapted to file systems
    • G06F16/164—File meta data generation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/10—File systems; File servers
    • G06F16/17—Details of further file system functions
    • G06F16/176—Support for shared access to files; File sharing support
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/28—Databases characterised by their database models, e.g. relational or object models
    • G06F16/284—Relational databases
    • G06F16/285—Clustering or classification
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N20/00—Machine learning

Definitions

  • This application relates to the technical field of agricultural information sharing, and more specifically to an agricultural machinery information sharing method, system, electronic equipment and storage medium.
  • the agricultural machinery when agricultural machinery is performing agricultural operations, the agricultural machinery can drive and operate within a preset working range according to a preset trajectory under the driving of a driver or the control of an automatic navigation kit.
  • the agricultural machinery completes a period of time or an area.
  • the processing device on the agricultural machine can store the driving trajectory of the agricultural machine into the storage device.
  • the preset trajectory, the preset working range, and the driving trajectory of agricultural machinery can all be stored in the storage device in the form of location coordinate data based on Geographic Information System (GIS).
  • GIS Geographic Information System
  • embodiments of the present application provide an agricultural machinery information sharing method for sharing position coordinate data corresponding to multiple agricultural machines, where the position coordinate data corresponds to the trajectory route and/or working area of the agricultural machine
  • the agricultural machinery information sharing method includes: obtaining a carrier file, wherein the carrier file includes multiple position coordinate data; and selecting a corresponding content analysis module to parse the carrier file according to the format of the carrier file to obtain multiple The position coordinate data; determine the data type of the position coordinate data according to the classification model, wherein the data type includes work data; extract the plurality of linear trajectories that form the straight trajectory in the position coordinate data corresponding to the work data. According to the position coordinate data, a straight line data group is generated.
  • the agricultural machinery information sharing method includes: calculating at least one set of feature data based on at least one set of position coordinate data, wherein a set of The position coordinate data includes a plurality of the position coordinate data; according to the classification model generated by a machine learning method, the data type corresponding to at least one set of the feature data is determined.
  • a group of the position coordinate data corresponds to a group of coordinate points, and a plurality of the position coordinate data forming a straight line trajectory are extracted from the position coordinate data corresponding to the job data, and when a straight line data group is generated,
  • the agricultural machinery information sharing method includes: deleting error data in the position coordinate data corresponding to the operation data, wherein the error data includes noise data and clutter data; and based on all the remaining position coordinate data corresponding to Among the coordinate points, the angle of the line connecting the adjacent coordinate points is used to group the remaining position coordinate data to generate the straight line data group.
  • the remaining position coordinate data are grouped according to the angle of the line connecting the adjacent coordinate points among the coordinate points corresponding to the remaining position coordinate data, and when the straight line data group is generated,
  • the agricultural machinery information sharing method includes: calculating multiple connection angles based on the position coordinate data corresponding to the adjacent coordinate points, wherein the connection angle is the vector formed by connecting the adjacent coordinate points.
  • the angle corresponding to the arctangent value calculate multiple calculation results of dividing the multiple connection angles by a preset angle threshold; among the multiple calculation results, the connection angles corresponding to the same integer part are
  • the position coordinate data is divided into the same sub-group, and the position coordinate data corresponding to the connection angles with different integer parts is divided into different sub-groups; it is determined that the sub-group containing the most position coordinate data is the straight line data Group.
  • the agricultural machinery information sharing method when extracting multiple position coordinate data forming a straight line trajectory from the position coordinate data corresponding to the operation data and generating a straight line data group, the agricultural machinery information sharing method further includes: Among the plurality of coordinate points corresponding to a group, calculate the fitting radius of the fitting circle of the three coordinate points according to the position coordinate data corresponding to the three adjacent coordinate points; determine the fitting Whether the radius is smaller than the turning radius of the agricultural machine; if the fitting radius is smaller than the turning radius of the agricultural machine, remove the coordinate point corresponding to the last ranked coordinate point among the three adjacent coordinate points. Location coordinate data.
  • the agricultural machinery information sharing method includes: according to the suffix name of the carrier file , determine whether the format of the carrier file is a recognizable format; if the format of the carrier file is a recognizable format, select the corresponding content analysis module to parse the carrier file according to the format of the carrier file .
  • the agricultural machinery information sharing method further includes: acquiring multiple sets of position coordinate data, wherein one set of position coordinate data includes multiple sets of position coordinate data; and calculating multiple sets of position coordinate data based on the multiple sets of position coordinate data.
  • a set of feature data obtain multiple sets of position coordinate data and the data types corresponding to multiple sets of feature data; input the data type and the corresponding feature data to the classification model; train the data according to a machine learning method Describe the classification model.
  • the agricultural machinery information sharing method further includes: generating the carrier file according to the selected format of the carrier file.
  • a set of position coordinate data corresponds to a set of coordinate points
  • a set of coordinate points includes a coordinate starting point and a coordinate end point
  • the coordinate starting point is the first coordinate point in a set of coordinate points.
  • the coordinate end point is the last coordinate point in a group of coordinate points
  • the characteristic data includes the number of coordinate points, the number of extreme points, trajectory length, end point distance, area, number of U-turns, closure parameters, opening parameters and the number of intersection points
  • the number of coordinate points corresponds to the number of a group of coordinate points
  • the number of extreme points corresponds to a group of coordinate points, in which multiple coordinate points are connected to form a trajectory
  • the extension direction changes from the direction away from the starting point of the coordinates to the direction close to the starting point of the coordinates, and the number of times it changes from the direction close to the starting point of the coordinates to the direction away from the end point of the coordinates
  • the trajectory length corresponds to a The length of the polyline segment generated by connecting a group of coordinate points
  • the closing parameter corresponds to the distance between the coordinate starting point and the coordinate end point in a group of coordinate points Whether it is less than a preset threshold;
  • the opening parameter corresponds to whether the distance between the coordinate starting point and the coordinate end point in a group of coordinate points is greater than another preset threshold;
  • the number of intersections corresponds to a group of the coordinate points Among the coordinate points, the polyline formed by connecting each coordinate point in sequence, and the number of intersection points between the line segments formed by connecting the coordinate starting point and the coordinate end point.
  • inventions of the present application provide an agricultural machinery information sharing system for implementing the agricultural machinery information sharing method as described in any one of the above.
  • the agricultural machinery information sharing system includes: an acquisition module for acquiring carrier files, Wherein, the carrier file includes a plurality of position coordinate data; a content analysis module is used to parse the carrier file in a corresponding format to obtain a plurality of the position coordinate data; a classification module is used to determine the position coordinate according to a classification model The data type of the data, wherein the data type includes work data; the extraction module is used to extract a plurality of the position coordinate data forming a straight line trajectory from the position coordinate data corresponding to the work data, and generate a straight line data group .
  • embodiments of the present application provide an electronic device, including: a memory for storing a computer program; a processor for executing the computer program stored in the memory.
  • the processor is used to execute the agricultural machinery information sharing method as described in any one of the above.
  • embodiments of the present application provide a storage medium that includes computer instructions.
  • the computer instructions When the computer instructions are run on an electronic device, the electronic device causes the electronic device to execute the agricultural machinery as described in any one of the above.
  • Information Sharing Methods When the computer instructions are run on an electronic device, the electronic device causes the electronic device to execute the agricultural machinery as described in any one of the above.
  • the agricultural machinery information sharing method, system, electronic equipment and storage medium provided by the implementation method of this application can save the location coordinate data in an existing and well-known format carrier file, and can store agricultural machinery or electronic equipment originating from different brands and signals.
  • the exported carrier file is parsed to obtain position coordinate data and realize the sharing of operation information of various agricultural machinery.
  • Electronic devices that receive position coordinate data can quickly determine the preset working range and trajectory based on the shared position coordinate data, improving the efficiency of agricultural operations.
  • Figure 1 is a schematic diagram of an electronic device in an embodiment of the present application.
  • Figure 2 is a flow chart of the agricultural machinery information sharing method in the embodiment of the present application.
  • Figure 3 is another flow chart of the agricultural machinery information sharing method in the embodiment of the present application.
  • Figure 4 is another flow chart of the agricultural machinery information sharing method in the embodiment of the present application.
  • Figure 5 is another flow chart of the agricultural machinery information sharing method in the embodiment of the present application.
  • Figure 6 is another flow chart of the agricultural machinery information sharing method in the embodiment of the present application.
  • Figure 7 is another flow chart of the agricultural machinery information sharing method in the embodiment of the present application.
  • FIG. 8A is a schematic diagram of the straight line coordinate point group in the coordinate system in the embodiment of the present application.
  • FIG. 8B is another schematic diagram of the linear coordinate point group in the coordinate system in the embodiment of the present application.
  • Figure 9 is a schematic diagram of the agricultural machinery information sharing system in the embodiment of the present application.
  • FIG. 1 is a schematic diagram of an electronic device 200 according to an embodiment of the present application. It can be understood that the electronic device 200 is communicatively connected with the agricultural machine 100 .
  • the electronic device 200 can realize the export and import of the position coordinate data corresponding to the agricultural machine 100, and realize the sharing of the position coordinate data corresponding to multiple agricultural machines 100.
  • the position coordinate data corresponds to the preset trajectory route, the preset working area and/or the actual trajectory route when the agricultural machine 100 performs agricultural operations.
  • the position coordinate data corresponding to the plurality of agricultural machines 100 can be position coordinate data generated based on a Geographic Information System (Geographic Information System, GIS).
  • GIS Geographic Information System
  • Multiple position coordinate data may correspond to multiple coordinate points in a coordinate system, and a connection line of multiple coordinate points may form a trajectory of the agricultural machine 100 or a working area of the agricultural machine 100 .
  • the agricultural machine 100 may be an electric machine having one or more agricultural operation functions.
  • Agricultural operation functions can include loosening soil, sowing, harvesting, fertilizing, etc.
  • the electronic device 200 may be a device used to assist the agricultural machine 100 in realizing the automatic driving function.
  • the electronic device 200 can control the agricultural machine 100 to automatically drive in a preset working area according to the preset trajectory route, and control the agricultural machine 100 to perform operations during the automatic driving process.
  • the electronic device 200 can also record the points passed by the agricultural machine 100 when the agricultural machine 100 is operating, and generate multiple position coordinate data corresponding to the actual trajectory of the agricultural machine 100 .
  • the electronic device 200 is a device with data processing functions, data storage functions and communication functions.
  • the communication connection may be a wireless communication connection implemented through a communication network.
  • the communication connection may be a wired communication connection implemented through electrical wires, data lines, or the like.
  • the installation position of the electronic device 200 is not limited in the embodiment of the present application.
  • the electronic device 200 may be fixedly installed on the agricultural machine 100 .
  • the electronic device 200 may include a processor 10, a memory 20, and a communication interface 30.
  • the processor 10, the memory 20 and the communication interface 30 can be connected through a communication bus and communicate with each other.
  • the processor 10 may be a general central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits used to control the execution of the program above.
  • CPU central processing unit
  • ASIC application-specific integrated circuit
  • the memory 20 may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (random access memory (RAM)) or other type that can store information and instructions. Dynamic storage device, it can also be Electrically Erasable Programmable Read-Only Memory (EEPROM), Compact Disc Read-Only Memory (CD-ROM) or other optical disk storage, optical disk storage (including compressed optical discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), disk storage media or other magnetic storage devices, or can be used to carry or store desired program code in the form of instructions or data structures and can be used by a computer Any other medium for access, but not limited to this.
  • the memory 20 may exist independently and be connected to the processor 10 through a bus.
  • the memory 20 may also be integrated with the processor 10 .
  • the communication interface 30 is used to communicate with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), Wireless Local Area Networks (WLAN), etc.
  • devices or communication networks such as Ethernet, Radio Access Network (RAN), Wireless Local Area Networks (WLAN), etc.
  • the memory 20 is used to store multiple position coordinate data corresponding to the preset trajectory route, the preset working area and/or the actual trajectory route.
  • the memory 20 is used to store the program code for executing the agricultural machinery information sharing method, and is controlled by the processor 10 for execution.
  • the processor 10 executes the program code stored in the memory 20 to run the agricultural machine information sharing method to realize the sharing of position coordinate data among multiple agricultural machines 100 .
  • the processor 10 is used to record the points passed by the agricultural machine 100, generate multiple position coordinate data corresponding to the actual trajectory of the agricultural machine 100, and store the multiple position coordinate data corresponding to the actual trajectory in the memory. 20.
  • the memory 20 is also used to store multiple position coordinate data corresponding to the preset trajectory route and/or the preset working range.
  • the processor 10 can implement communication connection with the agricultural machine 100 through the communication interface 30 .
  • the processor 10 can control the automatic driving and operation of the agricultural machine 100 according to the preset trajectory route and/or the preset working area.
  • one position coordinate data can correspond to a coordinate point
  • one position coordinate data can be the coordinates of a coordinate point
  • the P group of position coordinate data includes n pieces of position coordinate data
  • the P group of coordinate data may be P1 (X1, Y1), P2 (X2, Y2)...Pn (Xn, Yn).
  • P1 corresponds to the coordinate starting point in the P group of coordinate points corresponding to the P group of position coordinate data, that is, the first coordinate point in the P group of coordinate points
  • (X1, Y1) can be the P1 point in the preset coordinate system
  • the coordinates of X1 and Y1 can both be constants.
  • P2 corresponds to the second coordinate point in the P group of coordinate points;
  • (X2, Y2) can be the coordinates of the P2 point in the preset coordinate system, and both X2 and Y2 can be constants.
  • Pn corresponds to the coordinate end point in the P group of coordinate points corresponding to the P group of position coordinate data, that is, the last coordinate point in the P group of coordinate points;
  • (Xn, Yn) can be the coordinates of the Pn point in the preset coordinate system, Both Xn and Yn can be constants.
  • a set of position coordinate data includes multiple position coordinate data.
  • the agricultural machinery information sharing method may include an export method.
  • the exporting method may include: generating a carrier file according to the format of the selected carrier file, wherein the carrier file includes a plurality of position coordinate data.
  • the subject of selecting the carrier file format is not limited in the embodiments of this application.
  • the format of the carrier file may be automatically selected by the processor 10 after extracting multiple position coordinate data and determining based on factors such as the number of position coordinate data and data type.
  • the format of the carrier file may be manually selected by the operator.
  • the format of the carrier file when the format of the carrier file is automatically selected by the processor 10, the format of the carrier file can be selected based on preset format selection rules after obtaining the number of position coordinate data, data type and other factors. Rule files corresponding to the format selection rules may be stored in the memory 20 .
  • the electronic device 200 can include a control panel (not shown in the figure), and the control panel can be connected to the processor 10 through a bus, and the operator can An operation is performed on the control panel to control the processor 10 to select the format of the carrier file.
  • the processor 10 can be connected to a user terminal (not shown in the figure) through wireless communication, and an operator can operate the user terminal to control the processor 10 to select the format of the carrier file.
  • the user terminal can be an electronic device with human-computer interaction function and wireless communication function.
  • the user terminal can be but is not limited to a smart phone, a tablet computer, a personal computer, a smart watch, etc.
  • the format of the carrier file may be an open source, well-known format, such as ShapeFile (shp) format, ISOXML (xml) format, etc.
  • the carrier file may include multiple sets or only one set of position coordinate data, which is not limited in the embodiments of the present application.
  • the operator or the processor 10 can filter the position coordinate data that needs to be saved in the carrier file.
  • the operator can manually select the position coordinate data corresponding to the carrier file that needs to be generated by operating the control panel or the user terminal.
  • the processor 10 can automatically select the position coordinate data of the specified group and save it in the carrier file according to the preset data sharing rules.
  • the rule file of the preset data sharing rules can be stored in the memory 20 .
  • the embodiments of the present application do not limit the output objects after the carrier file is generated.
  • the processor 10 can communicate with a remote server (not shown in the figure), and the processor 10 can output the carrier file to the storage module (not shown in the figure) of the remote server, and other electronic devices 200 need to obtain the carrier. file, you can output the acquisition instruction to the remote server to obtain the carrier file from the remote server.
  • the processor 10 may be communicatively connected with another electronic device 200 , and the processor 10 may directly output the carrier file to the other electronic device 200 .
  • the carrier file may include multiple position coordinate data, and coordinate system parameters of the coordinate system where the coordinate points corresponding to the multiple position coordinate data are located.
  • the coordinate system parameters may be obtained after the processor 10 converts the coordinate system from image information into data.
  • the coordinate system parameters may include the number of coordinate axes of the coordinate system, the position of the coordinate axis, the extension direction of the coordinate axis, the preset points on each coordinate axis, the number corresponding to each preset point, the scale of the coordinate system, etc.
  • the coordinate systems generated by electronic devices 200 of different brands and signals may be different, for example, there may be different scales, different coordinate axis positions, etc. Therefore, the position coordinate data and coordinate system parameters can be synchronously saved to the carrier file and shared with other electronic devices 200 . After other electronic devices 200 obtain the carrier file, they can generate a coordinate system that is the same as the original coordinate system according to the coordinate system parameters, thereby improving the accuracy of other electronic devices 200 in identifying and using position coordinate data.
  • the agricultural machinery information sharing method may include an import method.
  • the import method may include the following steps S21 to S24:
  • Step S21 Obtain the carrier file.
  • the embodiments of the present application do not limit the objects for which the carrier file is provided.
  • the processor 10 can obtain the carrier file from a remote server.
  • the processor 10 may directly obtain the carrier file from another electronic device 200 .
  • Step S22 According to the format of the carrier file, select the corresponding content analysis module 80 (shown in FIG. 9) to analyze the carrier file to obtain multiple position coordinate data.
  • electronic devices 200 of different brands or models may produce different carrier file formats, or may produce carrier files in different formats.
  • carrier files in different formats they can be parsed through the corresponding content analysis module 80 to obtain the original position coordinate data.
  • the carrier file may be generated after other electronic devices 200 execute the export method, or may be generated by other methods other than the agricultural machinery information sharing method.
  • another method of generating a carrier file may be that the operator manually edits the position coordinate data to generate the carrier file.
  • another method of generating a carrier file may be to generate a carrier file according to a preset format for some agricultural machinery 100 that has point recording and position coordinate data distance functions and is not connected to the electronic device 200 .
  • the processor 10 can also obtain coordinate system parameters corresponding to the multiple position coordinate data.
  • the processor 10 can establish a coordinate system according to the coordinate system parameters, and the coordinate points corresponding to the position coordinate data can be marked in the coordinate system established by the processor 10 .
  • the method of parsing a carrier file may include the following steps S31 to S33.
  • Step S31 Determine whether the format of the carrier file is a recognizable format according to the suffix name of the carrier file; if it is determined that the format of the carrier file is a recognizable format, proceed to step S32; if it is determined that the format of the carrier file is an unrecognizable format , then enter step S33.
  • carrier files in different formats have different suffix names.
  • the suffix name of a carrier file in ShapeFile format may be shp
  • the suffix name of a carrier file in ISOXML format may be xml.
  • the formats of the carrier files that can be parsed and generated by the processor 10 may be different. Therefore, before parsing the carrier file, the format of the carrier file needs to be determined, and based on the format of the carrier file, it is determined whether the current electronic device 200 can recognize the acquired carrier file.
  • the processor 10 needs to call different content parsing modules 80 to parse carrier files in different formats.
  • Step S32 According to the format of the carrier file, select the corresponding content analysis module 80 to analyze the carrier file.
  • the format of the carrier file can be an open source and well-known format
  • the content parsing module 80 can also be an open source and well-known format.
  • the format of the carrier file may be ShapeFile format
  • the corresponding content parsing module 80 may be a content parsing module 80 produced by secondary development based on the GDAL library, where the GDAL library is a library for raster and vector geographic spaces.
  • the format of the carrier file may be ISOXML format
  • the corresponding content parsing module 80 may be a content parsing module 80 generated based on the dom4j library and the ISO11783 protocol.
  • the dom4j library is an open source for ISOXML format file parsing. tool kit.
  • multiple position coordinate data can be obtained, and the multiple position coordinate data can be one or more sets of position coordinate data; in one set of position coordinate data, the multiple position coordinate data are arranged in sequence.
  • Step S33 Output reminder information.
  • the processor 10 can output reminder information to the operator to remind the operator to reset the trajectory route and working range, or to remind the operator to obtain additional carrier files.
  • reminder information can be output to the user terminal in the form of text messages, emails, internal application messages, etc. for operators to view.
  • the agricultural machine 100 may include a reminder device, the reminder information may be output to the reminder device, and the reminder device may respond after receiving the reminder information to remind the operator that the carrier file cannot be recognized.
  • the reminder device may be an electronic device with functions such as emitting sound, emitting bright light, and/or displaying images.
  • the reminder device may be but is not limited to an LCD screen, warning light, audio, etc.
  • step S23 determine the data type of the position coordinate data according to the classification model.
  • the data types include job data, trajectory data and area data.
  • the operation data corresponds to the actual traveling trajectory of the agricultural machine 100 connected to the electronic device 200 that generated the carrier file.
  • the trajectory data corresponds to the preset traveling trajectory route of the agricultural machine 100 connected to the electronic device 200 that generated the carrier file.
  • the area data corresponds to a preset working range of the agricultural machine 100 connected to the electronic device 200 that generated the carrier file.
  • a set of position coordinate data can correspond to position coordinate data of one data type.
  • the processor 10 can distinguish whether the multiple position coordinate data are the same group or different groups of position coordinate data according to some characteristics of the position coordinate data.
  • a set of position coordinate data corresponding to job data can be A1 (Xa1, Ya1), A2 (Xa2, Ya2)... An (Xan, Yan)
  • a set of position coordinate data corresponding to trajectory data can be B1 (Xb1, Yb1), B2(Xb2, Yb2)...Bn(Xbn, Ybn)
  • the processor 10 can distinguish the two sets of data according to whether the initial letter of the coordinate point label is A or B.
  • a set of position coordinate data whose data type is job data can be defined as a job data group
  • a set of position coordinate data whose data type is trajectory data can be defined as a job data group
  • a set of position data whose data type can be defined as area data can be defined
  • the coordinate data is an area data group.
  • the connection line between the coordinate points corresponding to the trajectory data group is a straight line segment or multiple straight line segments set at intervals.
  • the line connecting the coordinate points corresponding to the area data group can form a closed or nearly closed area. In an ideal state, the agricultural machine 100 can travel and operate along the straight line segment corresponding to the trajectory data set in the area corresponding to the area data set.
  • connection line of the coordinate points corresponding to the operation data group may be a multi-segment polyline, and there may be differences in data and data quantity between the operation data group and the trajectory data group.
  • the method of determining the data type of position coordinate data may include the following steps S41 and S42:
  • Step S41 Calculate at least one set of feature data based on at least one set of position coordinate data.
  • a set of position coordinate data includes a plurality of position coordinate data arranged in sequence. After the processor 10 performs specified calculations on a set of position coordinate data, a set of corresponding feature data can be obtained.
  • a set of position coordinate data corresponds to a set of coordinate points, and a set of coordinate points includes a plurality of coordinate points arranged in sequence.
  • a set of position coordinate data, a set of coordinate points and a set of feature data can correspond one to one.
  • the feature data may include the number of coordinate points, the number of extreme points, the trajectory length, the end point distance, the area, the number of U-turns, closing parameters, opening parameters, and the number of intersection points.
  • the number of coordinate points corresponds to the number of a group of coordinate points.
  • the processor 10 obtains multiple position coordinate data by parsing the carrier file, and after grouping the multiple position coordinate data, can determine the number of coordinate points corresponding to a group of position coordinate data.
  • the number of extreme points corresponds to the extension direction of the trajectory formed by connecting the coordinate points in a group of coordinate points, from a direction away from the starting point of the coordinates to a direction close to the starting point of the coordinates, and from a direction close to the starting point of the coordinates to a direction away from the end point of the coordinates. number of directions.
  • the number of extreme points may correspond to the number of times the agricultural machine 100 turns back and moves in a direction closer to or away from the starting point of the agricultural machine 100 when the agricultural machine 100 is traveling.
  • the calculation method of the number of extreme points can include: first calculating the Euclidean distance between n+1 coordinate points in a set of coordinate points and the coordinate starting point, and obtaining the distance data [d0, d1,..., dn]. Then perform first-order difference on n+1 distance data, calculate the distance difference ⁇ i between adjacent distances di and di+1, and obtain distance difference data [ ⁇ 0, ⁇ 1,..., ⁇ n-1]. Finally, in n distance difference data, whether there is an extreme point is determined based on whether the positive and negative signs of adjacent distance differences are opposite. When it is determined that the adjacent distance differences have opposite signs, it can be determined that there is an extreme point. The sum of all distance differences satisfying ⁇ i* ⁇ i+1 ⁇ 0 is the number of extreme points.
  • the trajectory length may correspond to the length of a polyline segment generated by connecting a set of coordinate points in sequence.
  • the processor 10 can connect multiple coordinate points [P0, P1,..., Pn] in sequence, and calculate the total length of the obtained line segment, and the calculation result is the trajectory length.
  • the endpoint distance corresponds to the distance between the coordinate starting point P0 and the coordinate end point Pn in a set of coordinate points.
  • the area corresponds to the area of a closed polygon formed by connecting a set of coordinate points in sequence.
  • the processor 10 can connect multiple coordinate points [P0, P1,..., Pn] in sequence. If P0 and Pn do not overlap, then connect P0 and Pn to obtain a closed polygon.
  • Processor 10 can calculate the area of a polygon.
  • the number of U-turns corresponds to the difference between the angle in the coordinate system of a line connecting a coordinate point and the starting point of a coordinate point in a set of coordinate points, and the angle in the coordinate system of a line connecting another adjacent coordinate point and the starting point of the coordinate.
  • the number of times the value is greater than 180 degrees.
  • the processor 10 can calculate the angles of the lines connecting multiple coordinate points and the starting point of the coordinates in sequence. After obtaining multiple angle values, the processor 10 can then calculate the difference between adjacent angle values. When the processor 10 calculates and determines that the difference between two adjacent angles is greater than 180 degrees, the processor 10 may perform a count. When the calculation of the differences between all adjacent angles is completed, and whether all differences are judged to be greater than 180 degrees, the final result of the processor 10 count is the number of U-turns.
  • the closing parameter corresponds to the judgment result of whether the distance between the coordinate starting point and the coordinate end point in a set of coordinate points is less than the first threshold.
  • the processor 10 may calculate the distance between the coordinate starting point and the coordinate end point, and then compare the calculation result with a preset first threshold. If it is determined that the calculation result is greater than or equal to the first threshold, it is determined that the connection line of the set of coordinate points is not closed, and the closure parameter is determined to be 0. If the calculation result is determined to be less than the first threshold, it is determined that the connection line of the set of coordinate points is closed, and the closure parameter is determined to be 1.
  • the opening parameter corresponds to whether the distance between the coordinate starting point and the coordinate end point in a set of coordinate points is greater than the second threshold.
  • the processor 10 may calculate the distance between the coordinate starting point and the coordinate end point, and then compare the calculation result with a preset second threshold. If it is determined that the calculation result is greater than the second threshold, then the opening of the line connecting the coordinate points of the group is determined, and the opening parameter is determined to be 1. If the calculation result is determined to be less than or equal to the second threshold, it is determined that the line connecting the coordinate points of the group is not an opening, and the opening parameter is determined to be 0.
  • the first threshold is smaller than the second threshold.
  • the first threshold and the second threshold may be constant thresholds preset by the operator before the agricultural machinery information sharing method is run.
  • the number of intersection points corresponds to the number of intersection points between the polyline La formed by sequentially connecting the coordinate points in a set of coordinate points, and the number of intersection points between the line segments Lb formed by connecting the coordinate starting point and the coordinate end point. It can be understood that the processor 10 can obtain the intersection point of the polyline La and the line segment Lb in the coordinate system, and calculate the number of intersection points.
  • the processor 10 may determine whether the obtained position coordinate data is the position coordinate data currently available for the electronic device 200 according to the characteristic data.
  • some electronic devices 200 can only process and use the position coordinate data of a closed line of the corresponding coordinate points.
  • the processor 10 can determine whether the position coordinate data is available to the electronic device 200 of the current agricultural machine 100 according to whether the closure parameter is 1. location coordinate data.
  • some electronic devices 200 can only process and use the position coordinate data of the connecting opening of the corresponding coordinate point.
  • the processor 10 can determine whether the position coordinate data is available to the electronic device 200 of the current agricultural machine 100 according to whether the opening parameter is 1. location coordinate data.
  • the processor 10 when the processor 10 executes the export method, before the processor 10 generates and outputs the carrier file, the processor 10 may perform a calculation of characteristic data, and determine based on the characteristic data whether the position coordinate data selected by the processor 10 can be used by other Position coordinate data used by the electronic device 200 of the agricultural machine 100.
  • the calculation process of the characteristic data may refer to the embodiment described above and will not be described again here.
  • Step S42 Determine the data type corresponding to at least one set of feature data based on the classification model generated by the machine learning method.
  • the classification model can predict the data type corresponding to the set of position coordinate data based on the value of each feature data.
  • the contents of the generated carrier files may be different.
  • the content of some carrier files includes the data type of position coordinate data, and the content of some carrier files does not include the data type of position coordinate data.
  • the electronic device 200 for acquiring the carrier file groups multiple position coordinate data, it needs to determine the data type corresponding to each group of position coordinate data before using each group of position coordinate data. Therefore, when the content of the acquired carrier file does not include the data type of the position coordinate data, the processor 10 can determine the data type of each group of position coordinate data through the classification model.
  • the processor 10 can obtain the data type after parsing the carrier file. At this time, the processor 10 may not execute step S23 and directly execute the next step.
  • machine learning can improve the performance of the specific algorithms involved in the classification model in empirical learning, thereby improving the accuracy of the classification model in determining data types.
  • the method of training a classification model may include the following steps S51 to S55:
  • Step S51 Obtain multiple sets of position coordinate data.
  • Step S52 Calculate multiple sets of feature data based on multiple sets of position coordinate data.
  • Step S53 Obtain data types corresponding to multiple sets of position coordinate data and multiple sets of feature data.
  • position coordinate data of a known corresponding data type needs to be selected.
  • multiple sets of location coordinate data with different data types should be selected to improve the accuracy of the trained classification model in determining the data type.
  • Step S54 Input multiple sets of feature data and corresponding data types to the classification model.
  • Step S55 Train the classification model according to the machine learning method.
  • multiple sets of data types and corresponding data types are materials for classification model training.
  • the processor 10 can optimize the algorithms involved in the classification model based on multiple sets of correctly corresponding feature data and data types, thereby improving the accuracy of the classification model.
  • the specific machine learning method used to train the classification model is not limited.
  • SVM support vector machine
  • the process of training the classification model can be executed by the processor 10 or by a remote server or other device, which is not limited in the embodiments of the present application.
  • step S24 Extract multiple position coordinate data forming a straight line trajectory in the operation data set to generate a straight line data set.
  • some coordinate points correspond to the trajectory of the agricultural machine 100 that is close to a straight line when traveling, and some coordinate points correspond to the trajectory of the agricultural machine 100 when it turns around or turns.
  • the processor 10 extracts the coordinate points and position coordinate data corresponding to the straight line trajectory, it can plan the travel route of the agricultural machine 100 when it subsequently operates in a similar or same area based on the generated straight line data set.
  • the processor 10 may also adjust the position coordinate data in the trajectory data set according to the generated straight line data set.
  • the method of generating a straight line data set may include the following steps S61 to S66:
  • Step S61 Delete the error data in the job data group.
  • the error data may include noise data and clutter data.
  • step S61 can achieve denoising and filtering of the operation data set to eliminate irrelevant data that may affect the identification of the traveling trajectory of the agricultural machine 100 by the operator or the processor 10 .
  • the processor 10 can denoise the job data set through the Douglas-Pook algorithm, and can filter the job data set through the Kalman filter algorithm.
  • Step S62 Calculate the connecting angle of each adjacent coordinate point among the plurality of coordinate points corresponding to the remaining plurality of position coordinate data.
  • connection angle is the angle corresponding to the arctangent value of the vector formed by connecting adjacent coordinate points.
  • the coordinates of two adjacent coordinate points are Pi (xi, yi) and Pj (xj, yj) respectively.
  • the calculated inverse The tangent value is used to obtain the connecting angle ⁇ i of the corresponding adjacent coordinate points.
  • Step S63 Determine multiple calculation results of multiple connection angles divided by preset angle thresholds.
  • step S62 n connection angles [ ⁇ 1, ⁇ 2,..., ⁇ n] can be calculated and obtained.
  • step S63 it is necessary to perform a calculation of dividing the n connection angles by the angle threshold ⁇ to obtain multiple calculation results [ ⁇ 1/ ⁇ , ⁇ 2/ ⁇ ,..., ⁇ n/ ⁇ ].
  • the angle threshold may correspond to the traveling angle of the agricultural machine 100 when the agricultural machine 100 turns or makes a U-turn.
  • the angle threshold may vary according to the farmland where the agricultural machine 100 is located, or the brands and models of the agricultural machine 100 and the electronic device 200 .
  • the angle threshold may be an angle value in the interval [90, 180], for example, the angle threshold may be 95.
  • Step S64 Divide the position coordinate data corresponding to the calculation results with the same integer part among multiple calculation results into the same subgroup, and divide the position coordinate data corresponding to the calculation result with different integer part into different subgroups.
  • step S63 respectively correspond to the multiple connection angles obtained in step S62, and each connection angle corresponds to one position coordinate data, so each calculation result corresponds to one position respectively. coordinate data.
  • the calculation result of dividing the connection angle by the angle threshold may have a remainder or a decimal.
  • only the integer part is extracted and used to group the position coordinate data.
  • the calculation results can be rounded, that is, after the calculation results are adjusted to only integers, the position coordinate data is grouped according to the calculation results.
  • the method of rounding the calculation results is not limited in the embodiments of the present application.
  • Step S65 Determine the subgroup containing the most position coordinate data as the straight line data group.
  • the agricultural machine 100 runs along a trajectory close to a straight line most of the time and distance, so the subgroup containing the most position coordinate data can be determined as the straight line data group.
  • multiple coordinate points corresponding to the straight line data group can be defined as a straight line coordinate point group.
  • Step S66 Delete the position coordinate data corresponding to the coordinate points that the agricultural machine 100 cannot reach in the straight line data group.
  • the turning radius of agricultural machinery 100 may be different. Therefore, some coordinate points in the linear coordinate group may be reachable by the original agricultural machine 100 but cannot be reached by the current agricultural machine 100 . In order to avoid planning the coordinate points that the current agricultural machine 100 cannot reach due to the turning radius limit when planning the travel route of the current agricultural machine 100, it is necessary to delete the position coordinate data corresponding to the coordinate points that the agricultural machine 100 cannot reach in the straight line data group. , and form a new straight line data group.
  • a specific method for deleting position coordinate data corresponding to coordinate points that cannot be reached by the agricultural machine 100 may include the following steps S71 to S74:
  • Step S71 In the linear coordinate point group, calculate the fitting radii of the fitting circles of three adjacent coordinate points in sequence.
  • the processor 10 can determine the order of the coordinate points by identifying the numerical part of the coordinate point labels.
  • multiple coordinate points can be connected in sequence to form one or more polylines.
  • the connecting line segment between the two coordinate points can be deleted, so that a polyline formed by connecting multiple coordinate points in sequence forms two polyline.
  • the two coordinate points may be on different traveling trajectories that are close to a straight line.
  • the position coordinate data in the straight line data group can be the coordinates of each coordinate point in the straight line coordinate group in the coordinate system.
  • the processor 10 can determine the coordinates of the coordinate points according to the position coordinate data corresponding to the coordinate points, and then compare the three coordinate points. The fitting radius of the fitting circle of the coordinate point is calculated.
  • Step S72 Determine whether the fitting radius is smaller than the turning radius of the agricultural machine 100. If the fitting radius is smaller than the turning radius of the agricultural machine 100, proceed to step S73; if the fitting radius is greater than or equal to the turning radius of the agricultural machine 100, proceed to step S74.
  • the electronic device 200 can obtain internal parameters of the connected agricultural machine 100, and the internal parameters include the turning radius.
  • the method by which the electronic device 200 obtains the turning radius of the agricultural machine 100 is not limited.
  • Step S73 Delete the position coordinate data corresponding to the last coordinate point among the three adjacent coordinate points, and select the next coordinate point according to the sorting of the multiple coordinate points, which is adjacent to the two previous coordinate points. Re-carry out the formation of the fitting circle and the calculation of the fitting radius.
  • the agricultural machine 100 cannot reach the position corresponding to the coordinate point ranked lowest among the three coordinate points. After deleting a position coordinate data in the straight line data group, it is equivalent to deleting a coordinate point in the straight line coordinate point group. Therefore, at this time, the next coordinate point after the deleted coordinate point forms three adjacent coordinate points with the two adjacent coordinate points in the previous sequence.
  • Figure 8B It can be understood that after deleting a coordinate point, a dividing space appears in the connection line formed by multiple coordinate points in the straight line coordinate point group, thereby splitting one polyline into two polylines.
  • the coordinate point P5 is deleted from the straight line coordinate point group and added to the straight line data group.
  • the position coordinate data corresponding to coordinate point P5 is deleted.
  • a partition space is formed between coordinate point P4 and coordinate point P6.
  • a polyline originally formed by connecting coordinate point P1 to coordinate point P8 is split into a first polyline L1 formed by connecting P1, P2, P3 and P4 in sequence, and
  • the second polyline L2 is formed by connecting P6, P7 and P8 in sequence.
  • the operator needs to manually drive the agricultural machine 100 through the partition space between the trajectory routes corresponding to the two fold lines.
  • the electronic device 200 can assist the agricultural machine 100 to automatically drive through the distance corresponding to the first fold line L1 and the second fold line L2.
  • the driver needs to manually drive the agricultural machine.
  • 100 is the distance corresponding to the partition space between coordinate point P4 and coordinate point P6.
  • Step S74 Select the two coordinate points that are ranked second and third among the three adjacent coordinate points, and select the next coordinate point according to the order of the multiple coordinate points, and re-calculate it with the previous two adjacent coordinate points. Form the fitting circle and calculate the fitting radius.
  • the fitting radius is greater than or equal to the turning radius, it can be determined that the positions corresponding to the three coordinate points are positions that the agricultural machine 100 can reach, and the position coordinate data corresponding to the three coordinate points can be retained and selected in sequence. One coordinate point is used to calculate the fitting radius.
  • steps S73 and S74 are completed, the next coordinate point is selected in sequence and returns to step S71 to recalculate the fitting radius and compare the threshold. After all the coordinate points of the linear coordinate point group have been calculated once for the fitting radius and compared with the threshold value, the execution of steps S71 to S74 stops.
  • the processor 10 obtains the final adjusted straight line data set.
  • the processor 10 can plan the traveling route of the agricultural machine 100 when operating in the farmland according to the straight line data set.
  • the agricultural machinery information sharing method can enable the electronic device 200 to save the position coordinate data in an existing and well-known format carrier file, and enable the electronic device 200 to store agricultural machinery 100 or models of different brands and models.
  • the carrier file exported by the electronic device 200 is parsed to obtain position coordinate data, thereby realizing sharing of operation information of various agricultural machines 100 .
  • the electronic device 200 that receives the position coordinate data can quickly determine the preset working range and trajectory based on the shared position coordinate data, thereby improving the efficiency of agricultural operations.
  • the electronic device 200 can classify and adjust the position coordinate data obtained through analysis, so that the electronic device 200 can optimize the current traveling route of the agricultural machine 100 during operation.
  • the code stored in the memory 20 can execute some or all of the information sharing steps described in FIGS. 1 to 7 .
  • FIG. 9 is a schematic diagram of an agricultural machinery information sharing system 300 disclosed in an embodiment of the present application.
  • the agricultural machinery information sharing system 300 provided by the embodiment of the present application may include: a generation module 40, an output module 50, an acquisition module 60, an identification module 70, a content analysis module 80, a classification module 90 and an extraction module 110.
  • the generation module 40 is used to generate a carrier file according to the selected format.
  • the carrier file includes one or more sets of position coordinate data.
  • One set of position coordinate data includes a plurality of position coordinate data.
  • the output module 50 is used to output the carrier file generated according to the selected format and position coordinate data.
  • the acquisition module 60 is used to acquire the carrier file.
  • the identification module 70 is used to identify the format of the carrier file.
  • the identification module 70 can determine the format of the carrier file by identifying the suffix name of the carrier file.
  • the content parsing module 80 is used to parse the carrier file in the corresponding format to obtain multiple location coordinate data.
  • the agricultural machinery information sharing system 300 may include multiple content parsing modules 80 .
  • the processor 10 can select the corresponding content parsing module 80 according to the format of the carrier file to parse the carrier file.
  • the classification module 90 is used to determine the data type of the position coordinate data according to the classification model.
  • the extraction module 110 is used to extract and adjust the straight line data set from the job data set.
  • the above-mentioned division of various modules in the agricultural machinery information sharing system 300 is only for illustration. In other embodiments, the agricultural machinery information sharing system 300 can be divided into different modules as needed to complete the above-mentioned agricultural machinery information sharing system. 300 in full or in part.
  • each module in the embodiment of this application can also correspond to the corresponding description with reference to the method embodiments shown in FIGS. 1 to 7 .
  • the agricultural machinery information sharing system 300 depicted in Figure 9 can save position coordinate data in existing and well-known format carrier files, and can parse carrier files exported from agricultural machinery 100 or electronic devices 200 of different brands and models. , obtaining the position coordinate data can realize the sharing of operation information of various agricultural machines 100 .
  • obtaining the position coordinate data can realize the sharing of operation information of various agricultural machines 100 .
  • For specific content please refer to the specific embodiments of the above-mentioned agricultural machinery information sharing method, which will not be described in detail here.
  • the electronic device 200 described in FIG. 1 may include the above-mentioned agricultural machinery information sharing system 300.
  • the agricultural machinery information sharing system 300 please refer to the detailed description of the embodiment shown in FIG. 9, which will not be described again here.
  • embodiments of the present application also provide a storage medium.
  • the storage medium includes computer instructions.
  • the computer instructions When the computer instructions are run on the electronic device 200, the electronic device 200 executes the agricultural machinery information sharing method provided by the embodiments of the present application.

Abstract

一种农机信息共享方法、系统、电子设备及存储介质，用于实现多个农机对应的位置坐标数据的共享，位置坐标数据对应于农机的轨迹路线和/或工作区域，农机信息共享方法包括：获取载体文件，载体文件包括多个位置坐标数据；根据载体文件的格式，选用对应的内容解析模块解析载体文件，获得多个位置坐标数据；根据分类模型确定位置坐标数据的数据类型，数据类型包括作业数据；提取作业数据对应的位置坐标数据中，形成直线轨迹的多个位置坐标数据，产生直线数据组。采用本方法，可以实现多种农机对应的位置坐标数据的共享，使接收位置坐标数据的电子设备可以根据共享的位置坐标数据快捷地确定预设的工作范围及轨迹，提高工作效率。

Description

农机信息共享方法、系统、电子设备及存储介质
本申请要求于2022年5月20日提交中国专利局、申请号为202210555832.4、发明名称为“农机信息共享方法、系统、电子设备及存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及农业信息共享的技术领域，更具体地涉及一种农机信息共享方法、系统、电子设备及存储介质。
背景技术
在农业领域，农机进行农业作业时，农机可以在驾驶人员的驾驶下或自动导航套件的控制下，根据预设的轨迹在预设的工作范围内行驶并作业，农机完成一段时间或一个区域的作业后，农机上的处理装置可以将农机的行驶轨迹存储至存储装置中。目前，预设的轨迹、预设的工作范围以及农机的行驶轨迹，均可以以基于地理信息系统(Geographic Information System，GIS)的位置坐标数据的形式存储于存储装置中。
目前，在更换农机对同一工作范围进行农业作业时，由于更换的农机与原农机的品牌、型号等可能不同，导致多台农机将位置坐标数据导出为文件时的格式不同，且多台农机对记载有位置坐标数据的文件解析的程序不同。多台农机之间难以进行位置坐标数据的共享，操作人员在更换农机在同一工作范围进行作业时，需重新预设农机的工作范围和行驶轨迹，存在工作效率不佳的问题。
发明内容
鉴于以上内容，有必要提供一种农机信息共享方法、系统、电子设备及存储介质，可以共享多台不同品牌、型号的农机对应的位置坐标数据，使接收位置坐标数据的电子设备可以根据共享的位置坐标数据快捷地确定预设的工作范围及轨迹，提高农业作业的工作效率。
第一方面，本申请的实施例提供一种农机信息共享方法，用于实现多个农机对应的位置坐标数据的共享，所述位置坐标数据对应于所述农机的轨迹路线和/或工作区域，所述农机信息共享方法包括：获取载体文件，其中，所述载体文件包括多个所述位置坐标数据；根据所述载体文件的格式，选用对应的内容解析模块解析所述载体文件，获得多个所述位置坐标数据；根据分类模型确定所述位置坐标数据的数据类型，其中，所述数据类型包括作业数据；提取所述作业数据对应的所述位置坐标数据中，形成直线轨迹的多个所述位置坐标数据，产生直线数据组。
可选地，根据所述分类模型确定多个所述位置坐标数据的数据类型时，所述农机信息共享方法包括：根据至少一组所述位置坐标数据计算至少一组特征数据，其中，一组所述位置坐标数据包括多个所述位置坐标数据；根据机器学习方法产生的所述分类模型，确定至少一组所述特征数据对应的所述数据类型。
可选地，一组所述位置坐标数据对应于一组坐标点，提取所述作业数据对应的所述位置坐标数据中，形成直线轨迹的多个所述位置坐标数据，产生直线数据组时，所述农机信息共享方法包括：删除所述作业数据对应的所述位置坐标数据中的差错数据，其中，所述差错数据包括噪声数据和杂波数据；根据剩余的所述位置坐标数据对应的所述坐标点中，相邻的所述坐标点连线的角度，对剩余的所述位置坐标数据分组，产生所述直线数据组。
可选地，根据剩余的所述位置坐标数据对应的所述坐标点中，相邻的所述坐标点连线的角度，对剩余的所述位置坐标数据分组，产生所述直线数据组时，所述农机信息共享方法包括：根据相邻的所述坐标点对应的所述位置坐标数据计算多个连线角度，其中，所述连线角度为相邻的所述坐标点连接形成的向量的反正切值对应的角度；计算多个所述连线角度除以预设的角度阈值的多个计算结果；将多个所述计算结果中，整数部分相同的所述连线角度对应的所述位置坐标数据分为相同子组别，整数部分不同的所述连线角度对应的所述位置坐标数据分为不同子组别；确定包含所述位置坐标数据最多的子组别为所述直线数据组。
可选地，提取所述作业数据对应的所述位置坐标数据中，形成直线轨迹的多个所述位置坐标数据，产生直线数据组时，所述农机信息共享方法还包括：在所述直线数据组对应的多个所述坐标点中，根据相邻的三个所述坐标点对应 的所述位置坐标数据，计算三个所述坐标点的拟合圆的拟合半径；确定所述拟合半径是否小于所述农机的转弯半径；若所述拟合半径小于所述农机的转弯半径，则移除三个相邻的所述坐标点中，排序末位的所述坐标点对应的所述位置坐标数据。
可选地，根据所述载体文件的格式，选用对应的内容解析模块解析所述载体文件，获得多个所述位置坐标数据时，所述农机信息共享方法包括：根据所述载体文件的后缀名，确定所述载体文件的格式是否为可识别的格式；若所述载体文件的格式为可识别的格式，则根据所述载体文件的格式，选用对应的所述内容解析模块解析所述载体文件。
可选地，所述农机信息共享方法还包括：获取多组所述位置坐标数据，其中，一组所述位置坐标数据包括多个所述位置坐标数据；根据多组所述位置坐标数据计算多组特征数据；获取多组所述位置坐标数据及多组所述特征数据对应的所述数据类型；输入所述数据类型和对应的所述特征数据给所述分类模型；根据机器学习方法训练所述分类模型。
可选地，所述农机信息共享方法还包括：根据所选的所述载体文件的格式，生成所述载体文件。
可选地，一组所述位置坐标数据对应于一组坐标点，一组所述坐标点包括坐标起点和坐标终点，所述坐标起点为一组所述坐标点中第一个所述坐标点，所述坐标终点为一组所述坐标点中最后一个所述坐标点，所述特征数据包括坐标点个数、极值点个数、轨迹长度、端点距离、面积、掉头次数、闭合参数、开口参数和交点个数；所述坐标点个数对应于一组所述坐标点数量；所述极值点个数对应于一组所述坐标点中，多个所述坐标点连线形成轨迹的延伸方向，从远离所述坐标起点的方向转变至靠近所述坐标起点的方向，及从靠近所述坐标起点的方向转变至远离所述坐标终点的方向的次数；所述轨迹长度对应于一组所述坐标点依次连线产生的折线段的长度；所述端点距离对应于一组所述坐标点中，所述坐标起点和所述坐标终点之间的距离；所述面积对应于一组所述坐标点依次连线形成的封闭多边形的面积；所述掉头次数对应于一组所述坐标点中，一所述坐标点与所述坐标起点的连线的角度，及相邻的另一所述坐标点与所述坐标起点的连线的角度之间的差值大于180度的次数；所述闭合参数对应于一组所述坐标点中，所述坐标起点与所述坐标终点的间距是否小于预设阈 值；所述开口参数对应于一组所述坐标点中，所述坐标起点与所述坐标终点的间距是否大于另一预设阈值；所述交点个数对应于一组所述坐标点中，各所述坐标点依序连接形成的折线，及所述坐标起点与所述坐标终点连接形成的线段之间交点的个数。
第二方面，本申请的实施例提供一种农机信息共享系统，用于实现如上述任一项所述的农机信息共享方法，所述农机信息共享系统包括：获取模块，用于获取载体文件，其中，所述载体文件包括多个位置坐标数据；内容解析模块，用于解析对应格式的所述载体文件，获得多个所述位置坐标数据；分类模块，用于根据分类模型确定所述位置坐标数据的数据类型，其中，所述数据类型包括作业数据；提取模块，用于提取所述作业数据对应的所述位置坐标数据中，形成直线轨迹的多个所述位置坐标数据，产生直线数据组。
第三方面，本申请的实施例提供一种电子设备，包括：存储器，用于存储计算机程序；处理器，用于执行所述存储器存储的所述计算机程序，当所述计算机程序被执行时，所述处理器用于执行如上述任一项所述的农机信息共享方法。
第四方面，本申请的实施例提供一种存储介质，所述存储介质包括计算机指令，当所述计算机指令在电子设备上运行时，使得所述电子设备执行如上述任一项所述的农机信息共享方法。
本申请实现方式提供的农机信息共享方法、系统、电子设备及存储介质，可以将位置坐标数据保存在现有且公知格式的载体文件中，且可以对源自不同品牌、信号的农机或电子设备导出的载体文件进行解析，获得位置坐标数据，实现多种农机的作业信息的共享。接收位置坐标数据的电子设备可以根据共享的位置坐标数据快捷地确定预设的工作范围及轨迹，提高农业作业的工作效率。
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图1是本申请实施例中电子设备的示意图。
图2是本申请实施例中农机信息共享方法的流程图。
图3是本申请实施例中农机信息共享方法的另一流程图。
图4是本申请实施例中农机信息共享方法的另一流程图。
图5是本申请实施例中农机信息共享方法的另一流程图。
图6是本申请实施例中农机信息共享方法的另一流程图。
图7是本申请实施例中农机信息共享方法的另一流程图。
图8A是本申请实施例中直线坐标点组在坐标系中的示意图。
图8B是本申请实施例中直线坐标点组在坐标系中的另一示意图。
图9是本申请实施例中农机信息共享系统的示意图。
具体实施方式
下面将结合本申请实现方式中的附图，对本申请实现方式中的技术方案进行清楚、完整地描述，显然，所描述的实现方式仅是本申请一部分实现方式，而不是全部的实现方式。
请参阅图1，图1为本申请的一个实施例提供的电子设备200的示意图。可以理解，电子设备200与农机100通信连接。电子设备200可以实现与农机100对应的位置坐标数据的导出和导入，实现多个农机100对应的位置坐标数据的共享。位置坐标数据对应于农机100进行农业作业时，预设的轨迹路线、预设的工作区域和/或实际的轨迹路线。
可以理解，多个农机100对应的位置坐标数据，可以是基于地理信息系统(Geographic Information System，GIS)生成的位置坐标数据。多个位置坐标数据可以对应于在一个坐标系内的多个坐标点，多个坐标点的连线可以形成农机100的轨迹路线，也可以形成农机100的工作区域。
可以理解，农机100可以是具有一种或多种农业作业功能的电动机械。农业作业功能可以包括松土、播种、收割、施肥等。电子设备200可以是用于辅助农机100实现自动行驶功能的设备。电子设备200可以根据预设的轨迹路线在预设的工作区域，控制农机100自动行驶，并控制农机100在自动行驶的过程中可以进行作业。电子设备200还可以在农机100作业时记录农机100所经过的点位，产生与农机100实际的轨迹路线对应的多个位置坐标数据。
可以理解，电子设备200为具有数据处理功能、数据存储功能和通信功能的设备。
可以理解，本申请的实施例对通信连接的方式不作限定。例如，通信连接可以是通过通信网络实现的无线通信连接。又例如，通信连接可以是通过电线、数据线等实现的有线通信连接。
可以理解，本申请的实施例中对电子设备200的安装位置不作限定。例如，电子设备200可以固定安装在农机100上。
本实施例中，电子设备200可以包括处理器10、存储器20和通信接口30。处理器10、存储器20和通信接口30可以通过通信总线连接并完成相互间的通信。
处理器10可以是通用中央处理器(CPU)、微处理器、特定应用集成电路(application-specific integrated circuit，ASIC)、或一个或多个用于控制以上方案程序执行的集成电路。
存储器20可以是只读存储器(read-only memory，ROM)或可存储静态信息和指令的其他类型的静态存储设备，随机存取存储器(random access memory，RAM)或者可存储信息和指令的其他类型的动态存储设备，也可以是电可擦可编程只读存储器(Electrically Erasable Programmable Read-Only Memory，EEPROM)、只读光盘(Compact Disc Read-Only Memory，CD-ROM)或其他光盘存储、光碟存储(包括压缩光碟、激光碟、光碟、数字通用光碟、蓝光光碟等)、磁盘存储介质或者其他磁存储设备、或者能够用于携带或存储具有指令或数据结构形式的期望的程序代码并能够由计算机存取的任何其他介质，但不限于此。存储器20可以是独立存在，通过总线与处理器10相连接。存储器20也可以和处理器10集成在一起。
通信接口30用于与其他设备或通信网络通信，如以太网，无线接入网(RAN)，无线局域网(Wireless Local Area Networks，WLAN)等。
可以理解，存储器20用于存储与预设的轨迹路线、预设的工作区域和/或实际的轨迹路线对应的多个位置坐标数据。且存储器20用于存储执行农机信息共享方法的程序代码，并由处理器10来控制执行。处理器10执行存储器20存储的程序代码，以运行农机信息共享方法，实现多个农机100之间的位置坐标数据的共享。
可以理解，处理器10用于记录农机100所经过的点位，产生与农机100实际的轨迹路线对应的多个位置坐标数据，并将与实际的轨迹路线对应的多个位置坐标数据存储于存储器20。
可以理解，存储器20还用于存储与预设的轨迹路线和/或预设的工作范围对应的多个位置坐标数据。
可以理解，处理器10可以通过通信接口30实现与农机100通信连接。处理器10可以根据预设的轨迹路线和/或预设的工作区域，控制农机100自动行驶及作业。
可以理解，一个位置坐标数据可以对应一个坐标点，一个位置坐标数据可以是一个坐标点的坐标。例如，P组位置坐标数据包括n个位置坐标数据，P组坐标数据可以是P1(X1，Y1)、P2(X2，Y2)……Pn(Xn，Yn)。其中，P1对应P组位置坐标数据所对应的P组坐标点中的坐标起点，即P组坐标点中的第一个坐标点；(X1，Y1)可以是P1点在预设的坐标系中的坐标，X1、Y1均可以是常数。P2对应P组坐标点中的第二个坐标点；(X2，Y2)可以是P2点在预设的坐标系中的坐标，X2、Y2均可以是常数。Pn对应P组位置坐标数据所对应的P组坐标点中的坐标终点，即P组坐标点中的最后一个坐标点；(Xn，Yn)可以是Pn点在预设的坐标系中的坐标，Xn、Yn均可以是常数。
可以理解，多个坐标点依序连接成线，可以形成一段轨迹路线或一个工作区域的边界。因此，农机100预设的轨迹路线对应于一组位置坐标数据，农机100预设的工作范围对应于一组位置坐标数据，农机100实际的轨迹路线对应于一组位置坐标数据，三组位置坐标数据中可以存在部分相同的数据，也可以均为不同的数据，本申请的实施例对此不作限定。其中，一组位置坐标数据包括多个位置坐标数据。
另一实施例中，农机信息共享方法可以包括导出方法。导出方法可以包括：根据所选的载体文件的格式生成载体文件，其中，载体文件包括多个位置坐标数据。
可以理解，本申请的实施例中选择载体文件格式的主体不作限定。例如，载体文件的格式可以是处理器10在提取多个位置坐标数据后，根据位置坐标数据的数量、数据类型等因素进行确定后自动选择的。又例如，载体文件的格式可以是操作人员手动选择的。
可以理解，当载体文件的格式为处理器10自动选择时，载体文件可以在获取位置坐标数据的数量、数据类型等因素后，结合预设的格式选择规则选择载体文件的格式。格式选择规则对应的规则文件可以存储在存储器20中。
可以理解，当载体文件的格式为操作人员手动选择时，一种实现方式中，电子设备200可以包括操控面板(图中未展示)，操控面板可以与于处理器10 通过总线连接，操作人员可以在操控面板上进行操作，以控制处理器10选择载体文件的格式。另一种实现方式中，处理器10可以与一用户终端(图中未展示)无线通信连接，操作人员可以操作用户终端，以控制处理器10选择载体文件的格式。
可以理解，用户终端可以是具有人机交互功能和无线通信功能的电子装置，用户终端可以是但不局限于智能手机、平板电脑、个人电脑、智能手表等。
本实施例中，载体文件的格式可以是开源、公知的格式，例如ShapeFile(shp)格式、ISOXML(xml)格式等。
可以理解，载体文件可以包括多组或仅一组位置坐标数据，本申请的实施例对此不作限定。
可以理解，在生成载体文件前，操作人员或处理器10可以对需要保存在载体文件内的位置坐标数据进行筛选。一种实现方式中，操作人员可以通过操作操控面板或用户终端，手动选择需要生成的载体文件对应的位置坐标数据。另一种实现方式中，处理器10可以跟根据预设的数据共享规则，自动选择指定组别的位置坐标数据保存于载体文件中，预设的数据共享规则的规则文件可以存储在存储器20中。
可以理解，本申请的实施例对载体文件生成后的输出对象不作限定。例如，处理器10可以与一远端服务器(图中未展示)通信连接，处理器10可以将载体文件输出给远端服务器的存储模块(图中未展示)，其他电子设备200需要获取该载体文件时，可以向远端服务器输出获取指令，从而从远端服务器获取载体文件。又例如，处理器10可以与另一电子设备200通信连接，处理器10可以将载体文件直接输出给另一电子设备200。
一些实施例中，载体文件可以包括多个位置坐标数据，及多个位置坐标数据对应的坐标点所在坐标系的坐标系参数。
可以理解，坐标系参数可以是处理器10将坐标系从图像信息转化为数据后获得的。坐标系参数可以包括坐标系的坐标轴数量、坐标轴位置、坐标轴延伸方向、各坐标轴上的预设点位、各预设点位对应的号码及坐标系的比例尺等。
可以理解，不同品牌、信号的电子设备200所生成的坐标系可能不同，例如可能存在比例尺不同、坐标轴位置不同等情况。因此，可以在将位置坐标数据和坐标系参数同步保存至载体文件，并共享给其他电子设备200。其他电子设 备200获取载体文件后，可以根据坐标系参数生成与原坐标系相同的坐标系，提高其他电子设备200对位置坐标数据识别和运用的准确性。
请参阅图2，一些实施例中，农机信息共享方法可以包括导入方法。导入方法可以包括以下步骤S21至S24：
步骤S21：获取载体文件。
可以理解，本申请的实施例对提供载体文件的对象不作限定。例如处理器10可以从远端服务器获取载体文件。又例如，处理器10可以从另一电子设备200直接获取载体文件。
步骤S22：根据载体文件的格式，选用对应的内容解析模块80(图9中示出)解析载体文件，获得多个位置坐标数据。
可以理解，不同品牌或型号的电子设备200或者产生的载体文件格式，或者不同形式产生的载体文件的格式可能不同。针对不同格式的载体文件，可以通过对应的内容解析模块80进行解析，从而获取原始的位置坐标数据。
可以理解，一个电子设备200获取载体文件时，无法对载体文件的来源进行确定。载体文件可以是其他的电子设备200执行导出方法后产生的，也可以是通过农机信息共享方法以外的其他办法产生的。例如，产生载体文件的其他办法可以是操作人员人为对位置坐标数据编辑后产生载体文件。又例如，产生载体文件的其他办法可以是部分具有点位记录及位置坐标数据距离功能，且未与电子设备200连接的农机100，根据预设格式产生载体文件。
一些实施例中，解析载体文件后，在获得多个位置坐标数据的同时，处理器10还可以获得与多个位置坐标数据对应的坐标系参数。处理器10可以根据坐标系参数建立坐标系，位置坐标数据所对应的坐标点可以标记在处理器10建立的坐标系内。
请参阅图3，一些实施例中，解析载体文件的方法可以包括以下步骤S31至S33。
步骤S31：根据载体文件的后缀名，确定载体文件的格式是否为可识别的格式；若确定载体文件的格式为可识别的格式，则进入步骤S32；若确定载体文件的格式为不可识别的格式，则进入步骤S33。
可以理解，不同格式的载体文件具有不同的后缀名。例如，ShapeFile格式的载体文件的后缀名可以是shp，ISOXML格式的载体文件的后缀名可以是xml。 通过识别后缀名，可以确定载体文件的格式。
可以理解，在不同品牌或型号的农机100或电子设备200上，处理器10可以解析及可以产生的载体文件的格式可能存在不同。因此，在解析载体文件前，需对载体文件的格式进行确定，并根据载体文件的格式确定当前电子设备200是否可以识别获取的载体文件。处理器10需调用不同的内容解析模块80解析不同格式的载体文件。
步骤S32：根据载体文件的格式，选用对应的内容解析模块80解析载体文件。
可以理解，载体文件的格式可以是开源、公知的格式，内容解析模块80也可以是开源、公知的。例如，载体文件的格式可以是ShapeFile格式，对应的内容解析模块80可以是在GDAL库的基础上进行二次开发产生的内容解析模块80，其中，GDAL库是一个用于栅格和矢量地理空间数据格式的开源的转换程序库。又例如，载体文件的格式可以是ISOXML格式，对应的内容解析模块80可以是在dom4j库和ISO11783协议的基础上产生的内容解析模块80，其中，dom4j库是一个用于ISOXML格式文件解析的开源的工具包。
可以理解，解析载体文件后，可以获得多个位置坐标数据，多个位置坐标数据可以为一组或多组位置坐标数据；一组位置坐标数据中，多个位置坐标数据依序排列。
步骤S33：输出提醒信息。
可以理解，当处理器10无法解析获取的载体文件时，处理器10可以输出提醒信息给操作人员，提醒操作人员对轨迹路线和工作范围进行重新设定，或提醒工作人员获取另外的载体文件。
可以理解，本申请的实施例中对提醒信息的输出对象不作限定。例如，提醒信息可以以短信、电子邮件、应用程序内部消息等形式输出给用户终端，供操作人员查看。又例如，农机100可以包括提醒装置，提醒信息可以输出给提醒装置，提醒装置接收提醒信息后作出响应，以提醒操作人员载体文件不可识别。
可以理解，提醒装置可以是具有发出声音、发出亮光和/或显示影像等功能的电子装置。提醒装置可以是但不局限于液晶屏幕、警示灯、音响等。
请继续参阅图2，步骤S23：根据分类模型确定位置坐标数据的数据类型。
本实施例中，数据类型包括作业数据、轨迹数据和区域数据。作业数据对应于生成载体文件的电子设备200连接的农机100的实际行进轨迹路线。轨迹数据对应于生成载体文件的电子设备200连接的农机100的预设行进轨迹路线。区域数据对应于生成载体文件的电子设备200连接的农机100的预设工作范围。
可以理解，一组位置坐标数据可以对应一个数据类型的位置坐标数据。
可以理解，处理器10可以在多个位置坐标数据中，根据位置坐标数据部分特性，区别出多个位置坐标数据是否为同一组或不同组的位置坐标数据。例如，作业数据对应的一组位置坐标数据可以是A1(Xa1，Ya1)、A2(Xa2，Ya2)……An(Xan，Yan)，轨迹数据对应的一组位置坐标数据可以是B1(Xb1，Yb1)、B2(Xb2，Yb2)……Bn(Xbn，Ybn)，处理器10可以根据坐标点的标号首字母是A或B，对两组数据进行区别。
本实施例中，可以定义数据类型为作业数据的一组位置坐标数据为作业数据组，定义数据类型为轨迹数据的一组位置坐标数据为作业数据组，定义数据类型为区域数据的一组位置坐标数据为区域数据组。轨迹数据组对应坐标点的连线为一条直线线段或多条间隔设置的直线线段。区域数据组对应的坐标点的连线可以形成一封闭或接近封闭的区域。理想状态下，农机100可以区域数据组对应的区域内，沿轨迹数据组对应的直线线段行进并作业。但由于农机100作业的农田中地势不平、存在阻挡物等情况，农机100实际行进的轨迹可能偏离于轨迹数据组对应的直线线段；且当轨迹数据组对应有多条直线线段时，农机100需要在农田中经过多次转弯或掉头后，再沿多条直线线段行进并作业。因此作业数据组对应的坐标点的连线可能为多段折线，且作业数据组与轨迹数据组数据及数据数量可以存在差异。
请参阅图4，一些实施例中，确定位置坐标数据的数据类型的方法可以包括以下步骤S41、S42：
步骤S41：根据至少一组位置坐标数据计算至少一组特征数据。
可以理解，一组位置坐标数据包括多个依序排列的位置坐标数据。处理器10对一组位置坐标数据进行指定计算后，可以获得一组对应的特征数据。
可以理解，一组位置坐标数据对应于一组坐标点，一组坐标点包括多个依序排列的坐标点。一组位置坐标数据、一组坐标点与一组特征数据可以一一对应。
一些实施例中，特征数据可以包括坐标点个数、极值点个数、轨迹长度、端点距离、面积、掉头次数、闭合参数、开口参数和交点个数。
坐标点个数对应于一组坐标点的数量。处理器10通过解析载体文件获得多个位置坐标数据，并对多个位置坐标数据进行分组后，可以确定一组位置坐标数据对应的坐标点的数量。
极值点个数对应于一组所述坐标点中，坐标点连接形成轨迹的延伸方向，从远离坐标起点的方向转变至靠近坐标起点的方向，及从靠近坐标起点的方向转变至远离坐标终点的方向的次数。
可以理解，极值点个数可以对应于农机100行进时，农机100折返并沿靠近或远离农机100起点的方向移动的次数。
可以理解，极值点个数的计算方法可以包括：先计算一组坐标点中n+1个坐标点与坐标起点的欧式距离，得到距离数据【d0，d1，……，dn】。再对n+1个距离数据进行一阶差分，计算相邻距离di和di+1的距离差Δi，得到距离差数据【Δ0，Δ1，……，Δn-1】。最后在n个距离差数据中，根据相邻的距离差正负符号是否相反来确定是否存在极值点。当确定相邻的距离差正负符号相反时，可以确定存在一个极值点。所有满足Δi*Δi+1<0的距离差的个数之和，就是极值点的个数。
本实施例中，轨迹长度可以对应于一组坐标点依次连线产生的折线段的长度。处理器10可以将多个坐标点【P0，P1，……，Pn】按顺序连接，并计算得到的这线段的总长度，计算结果即为轨迹长度。
端点距离对应于一组坐标点中坐标起点P0和坐标终点Pn之间的距离。
面积对应于一组所述坐标点依次连线形成的封闭多边形的面积。处理器10可以将多个坐标点【P0，P1，……，Pn】按顺序连接，其中若P0和Pn不重合，则再将P0和Pn连接，得到一个封闭多边形。处理器10可以计算多边形的面积。
掉头次数对应于一组坐标点中，一坐标点与坐标起点的连线在坐标系中的角度，及相邻的另一坐标点与坐标起点的连线在坐标系中的角度之间的差值大于180度的次数。处理器10可以依次对多个坐标点与坐标起点的连线的角度进行计算，得出多个角度值后，再对计算相邻角度值之间的差值。当处理器10计算确定两个相邻角度之间的差值大于180度时，处理器10可以进行一次计数。当对所有相邻角度之间差值计算完成，且对所有差值进行是否大于180度的判 定后，处理器10计数的最终结果即为掉头次数。
闭合参数对应于一组坐标点中，坐标起点与坐标终点的间距是否小于第一阈值的判断结果。处理器10可以计算坐标起点与坐标终点之间的距离，再将计算结果与预设的第一阈值进行对比。若确定计算结果大于或等于第一阈值，则确定该组坐标点的连线并非闭合，确定闭合参数为0。若确定结果计算结果小于第一阈值，则确定该组坐标点的连线闭合，确定闭合参数为1。
开口参数对应于一组坐标点中，坐标起点与坐标终点的间距是否大于第二阈值。处理器10可以计算坐标起点与坐标终点之间的距离，再将计算结果与预设的第二阈值进行对比。若确定计算结果大于第二阈值，则确定该组坐标点的连线开口，确定开口参数为1。若确定结果计算结果小于或等于第二阈值，则确定该组坐标点的连线并非开口，确定开口参数为0。
可以理解，第一阈值小于第二阈值。第一阈值和第二阈值可以是农机信息共享方法运行前，由操作人员预设的常数阈值。
本实施例中，交点个数对应于一组坐标点中，各坐标点依序连接形成的折线La，及坐标起点与坐标终点连接形成的线段Lb之间交点的个数。可以理解，处理器10可以在坐标系中获取折线La与线段Lb的交点，并计算交点个数。
一些实施例中，处理器10在计算特征数据的同时，可以根据特征数据确定获取的位置坐标数据是否为当前电子设备200可用的位置坐标数据。
示例的，部分电子设备200仅可处理并运用对应的坐标点的连线闭合的位置坐标数据，处理器10可以根据闭合参数是否为1，确定位置坐标数据是否为当前农机100的电子设备200可用的位置坐标数据。
示例的，部分电子设备200仅可处理并运用对应的坐标点的连线开口的位置坐标数据，处理器10可以根据开口参数是否为1，确定位置坐标数据是否为当前农机100的电子设备200可用的位置坐标数据。
一些实施例中，处理器10在执行导出方法时，处理器10生成并输出载体文件前，可以进行一次特征数据的计算，并根据特征数据确定处理器10选取的位置坐标数据是否为可被其他农机100的电子设备200运用的位置坐标数据。特征数据的计算过程可参照上文所述实施例，在此不再赘述。
可以理解，确定处理器10选取的位置坐标数据是否可被其他农机100的电子设备200运用的具体方法，可以等同于上文所述的确定获取的位置坐标数据 是否为当前农机100的电子设备200可用位置坐标数据的方法，在此不再赘述。
步骤S42：根据机器学习方法产生的分类模型，确定至少一组特征数据对应的数据类型。
可以理解，将与一组位置坐标数据对应的一组特征数据输入给分类模型后，分类模型可以根据各特征数据的数值，预测该组位置坐标数据对应的数据类型。
可以理解，由于多个农机100、电子设备200的品牌、型号可能不同，因此产生的载体文件内容可能存在不同。部分载体文件的内容中包括位置坐标数据的数据类型，部分载体文件的内容中不包括位置坐标数据的数据类型。由于获取载体文件的电子设备200在对多个位置坐标数据进行分组后，需确定各组位置坐标数据对应的数据类型后再对各组位置坐标数据进行运用。因此，当获取的载体文件的内容中不包括位置坐标数据的数据类型时，处理器10可以通过分类模型确定各组位置坐标数据的数据类型。
可以理解，当获取的载体文件中包括位置坐标数据的数据类型时，处理器10对载体文件解析后即可获得数据类型。此时，处理器10可以不执行步骤S23并直接执行下一步骤。
可以理解，机器学习可以在经验学习中改善分类模型所涉及的具体算法的性能，从而提高分类模型对数据类型确定的准确性。
请参阅图5，一些实施例中，训练分类模型的方法可以包括以下步骤S51至S55：
步骤S51：获取多组位置坐标数据。
步骤S52：根据多组位置坐标数据计算多组特征数据。
可以理解，特征数据的计算方法及特征数据的类型可以参阅上述实施例，在此不在赘述。
步骤S53：获取多组位置坐标数据及多组特征数据对应的数据类型。
可以理解，对分类模型进行训练的时候，需选用已知对应数据类型的位置坐标数据。在通过多组位置坐标数据训练分类模型时，应选用多组数据类型不同的位置坐标数据，以提高训练后的分类模型对数据类型确定的准确性。
步骤S54：输入多组特征数据及对应的数据类型给分类模型。
步骤S55：根据机器学习方法训练分类模型。
可以理解，多组数据类型及对应的数据类型为分类模型训练的素材。训练 分类模型时，通过机器学习的方式，处理器10可以根据多组正确对应的特征数据及数据类型，优化分类模型涉及的算法，从而提高分类模型的准确性。
可以理解，本申请的实施例中，对训练分类模型采用的具体的机器学习方式不作限定。例如，可以采用支持向量机SVM训练分类模型。
可以理解，训练分类模型的过程可以由处理器10执行，也可以由远端服务器或其他设备执行，本申请的实施例对此不作限定。
请继续参阅图2，步骤S24：提取作业数据组中形成直线轨迹的多个位置坐标数据，产生直线数据组。
可以理解，作业数据组对应的多个坐标点中，部分坐标点对应农机100行进时接近直线的轨迹，部分坐标点对应于农机100掉头或转弯时的轨迹。处理器10提取出与直线轨迹对应的坐标点及位置坐标数据后，可以根据产生直线数据组规划农机100后续在相似或相同的区域内作业时的行进路线。处理器10还可以根据产生直线数据组调整轨迹数据组中的位置坐标数据。
请参阅图6，一些实施例中，产生直线数据组的方法可以包括以下步骤S61至S66：
步骤S61：删除作业数据组中的差错数据。
本实施例中，差错数据可以包括噪声数据和杂波数据。
可以理解，在农机100行进过程中，由于其他设备的信号干扰或电子设备200数据记录产生的差错，可能将部分差错数据记录于作业数据组中。步骤S61执行可以实现对作业数据组的去噪和滤波，以消除可能影响操作人员或处理器10对农机100行进轨迹识别的无关数据。
可以理解，本申请的实施例对去噪和滤波的具体方法不作限定。例如，处理器10可以通过道格拉斯-普克算法对作业数据组去噪，可以通过卡尔曼滤波算法对作业数据组滤波。
步骤S62：计算剩余的多个位置坐标数据对应的多个坐标点中，各相邻坐标点的连线角度。
本实施例中，连线角度为相邻的坐标点连接形成的向量的反正切值对应的角度。例如，相邻两个坐标点的坐标分别为Pi(xi，yi)和Pj(xj，yj)，计算向量(yj-yi，xj-xi)的反正切值后，可以根据计算的出的反正切值，得到对应的相邻坐标点的连线角度αi。
步骤S63：确定多个连线角度除以预设的角度阈值的多个计算结果。
可以理解，在步骤S62中可以计算获得n个连线角度【α1，α2，……，αn】。步骤S63中，需要对n个连线角度分别进行一次除以角度阈值θ的计算，得到多个计算结果【α1/θ，α2/θ，……，αn/θ】。
可以理解，角度阈值可以对应于农机100转弯或掉头时农机100的行进角度。角度阈值可以根据农机100所在农田的不同，或农机100、电子设备200的品牌、型号的不同而不同。
可以理解，角度阈值可以是在区间【90，180】中的一个角度值，例如，角度阈值可以是95。
步骤S64：将多个计算结果中，整数部分相同的计算结果对应的位置坐标数据分为相同子组别，整数部分不同的计算结果对应的位置坐标数据分为不同子组别。
可以理解，步骤S63中得出的多个计算结果分别与步骤S62中得出的多个连线角度一一对应，且各连接角度分别对应有一个位置坐标数据，因此各计算结果分别对应有一位置坐标数据。
可以理解，连线角度除以角度阈值的计算结果可能有余数或小数。一种实现方式中，仅提取整数部分用于对位置坐标数据分组即可。另一种实现方式中，可以对计算结果进行取整处理，即将计算结果调整为仅存在整数的结果后，再根据计算结果对位置坐标数据进行分组。
可以理解，本申请的实施例中对计算结果取整的方法不作限定。例如，可以根据四舍五入的规则，调整多个计算结果。又例如，可以直接对存在余数或小数的计算结果的整数部分加1后，再消除余数或小数，形成新的计算结果。
步骤S65：确定包含位置坐标数据最多的子组别为直线数据组。
可以理解，在农机100行进及作业过程中，农机100大部分时间及路程内是沿接近于直线的轨迹运行的，因此可以将包含位置坐标数据最多的子组别确定为直线数据组。
可以理解，可以定义与直线数据组对应的多个坐标点为直线坐标点组。
步骤S66：删除直线数据组中，农机100无法到达的坐标点对应的位置坐标数据。
可以理解，由于农机100的品牌、型号不同，农机100的转弯半径可能不 同。因此，直线坐标组中部分的坐标点可能是原农机100可以到达，而当前农机100无法到达的。为了避免在规划当前农机100行进路线时，将当前农机100由于转弯半径限制而无法到达的坐标点规划在行进路线中，需要删除直线数据组中，农机100无法到达的坐标点对应的位置坐标数据，并形成新的直线数据组。
请参阅图7，一些实施例中，删除农机100无法到达的坐标点对应的位置坐标数据的具体方法可以包括以下步骤S71至S74：
步骤S71：在直线坐标点组中，按顺序计算三个相邻坐标点的拟合圆的拟合半径。
请一并参阅图8A，可以理解，直线坐标点组中，多个坐标点依序排列。例如，如图8A所示，直线坐标点组中的多个坐标点的标号可以是【P0，P1，……，P8，P11，P12，……，P18，P21，P22，……P28】，处理器10通过识别坐标点标号的数字部分，即可确定坐标点的排序。
可以理解，直线坐标点组中，多个坐标点依序连接可以形成一条或多条折线。当处理器10识别相邻两个坐标点标号的数字部分为不连续的数值时，可以在两个坐标点之间的连接线段删除，从而使多个坐标点依序连接形成的一条折线形成两条折线。当处理器10识别相邻两个坐标点标号的数字部分为不连续的数值时，两个坐标点可以处于不同的接近于直线的行进轨迹上。
可以理解，直线数据组中的位置坐标数据可以是直线坐标组中各坐标点在坐标系中的坐标，处理器10可以根据坐标点对应的位置坐标数据确定坐标点的坐标后，再对三个坐标点的拟合圆的拟合半径进行计算。
可以理解，三个相邻坐标点位于三个相邻坐标点的拟合圆的圆弧上。
步骤S72：确定拟合半径是否小于农机100的转弯半径，若拟合半径小于农机100的转弯半径，则进入步骤S73；若拟合半径大于或等于农机100的转弯半径，则进入步骤S74。
可以理解，电子设备200可以获取连接的农机100的内部参数，内部参数包括转弯半径。本申请实施例中对电子设备200获取农机100的转弯半径的途径不作限定。
步骤S73：删除三个相邻的坐标点中，排序末位的坐标点对应的位置坐标数据，并依照多个坐标点的排序，选取下一个坐标点，与前序两个相邻的坐标点 重新进行拟合圆的形成及拟合半径的计算。
可以理解，当拟合圆的拟合半径小于农机100的转弯半径时，农机100无法到达三个坐标点中排序最末的坐标点对应的位置。删除了直线数据组中的一个位置坐标数据后，等同于删除直线坐标点组中的一个坐标点。因此，此时位于删除的坐标点后的下一个坐标点，与前序的两个相邻的坐标点形成三个相邻的坐标点。
请一并参阅图8B，可以理解，删除一个坐标点后，直线坐标点组中多个坐标点形成的连线出现一个隔断空间，从而将一条折线拆分为两条折线。例如，如图8B所示，当坐标点P3、P4及P5所在的拟合圆的拟合半径小于农机100的转弯半径时，在直线坐标点组中删除坐标点P5，并在直线数据组中删除与坐标点P5对应的位置坐标数据。坐标点P4与坐标点P6之间形成隔断空间，原先由坐标点P1至坐标点P8连接形成的一段折线，拆分为由P1、P2、P3和P4依序连接形成的第一折线L1，及由P6、P7和P8依序连接形成的第二折线L2。
可以理解，在农机100行进的过程中，操作人员需要手动驾驶农机100通过对于两条折线所对应的轨迹路线之间的隔断空间。例如，农机100按如图8B所示的多个坐标点在农田中行进时，电子设备200可以辅助农机100自动行驶通过第一折线L1及第二折线L2对应的路程，驾驶人员需要手动驾驶农机100通过坐标点P4与坐标点P6之间的隔断空间对应的路程。
可以理解，基于GIS建立的大地坐标系较普通的二维坐标系更为复杂，本申请中的图8A和图8B中的坐标系仅作为一种示意，并不等同于实际各坐标点所在的实际的坐标系。
步骤S74：选取三个相邻坐标点中排序位于第二和第三的两个坐标点，并依照多个坐标点的排序，选取下一个坐标点，与前序两个相邻的坐标点重新进行拟合圆的形成及拟合半径的计算。
可以理解，若确定拟合半径大于或等于转弯半径，则可以确定三个坐标点对应的位置均为农机100可以到达的位置，可以保留三个坐标点对应的位置坐标数据，并依序选取下一个坐标点进行拟合半径的计算。
可以理解，步骤S73和步骤S74结束后，均依序选取下一坐标点并返回步骤S71，重新进行一次拟合半径的计算和阈值对比。直线坐标点组的所有坐标点均进行过一次拟合半径的计算和阈值对比后，步骤S71至步骤S74停止执行。 处理器10获得最终调整后的直线数据组。处理器10可以根据直线数据组规划农机100在农田中作业时的行进路线。
本申请的实施例提供的农机信息共享方法，可以使电子设备200将位置坐标数据保存在现有且公知格式的载体文件中，且使电子设备200可以对源自不同品牌、型号的农机100或电子设备200导出的载体文件进行解析，获得位置坐标数据，实现对多种农机100作业信息的共享。接收位置坐标数据的电子设备200可以根据共享的位置坐标数据快捷地确定预设的工作范围及轨迹路线，提高农业作业的工作效率。
电子设备200可以对解析获得的位置坐标数据进行分类和调整，方便电子设备200对当前农机100进行作业时的行进路线进行优化。
可以理解，图1所示的电子设备200中，存储器20存储的代码可执行图1至图7中所描述的信息共享的部分或全部步骤。
请参阅图9，图9是本申请实施例公开的一种农机信息共享系统300的示意图。本申请实施例提供的农机信息共享系统300可以包括：生成模块40、输出模块50、获取模块60、识别模块70、内容解析模块80、分类模块90和提取模块110。
本实施例中，生成模块40用于根据所选的格式，生成载体文件。
可以理解，载体文件包括一组或多组位置坐标数据。一组位置坐标数据包括多个位置坐标数据。
本实施例中，输出模块50用于输出根据所选格式及位置坐标数据生成的载体文件。
可以理解，本申请的实施例对载体文件的输出对象不作限定。
本实施例中，获取模块60用于获取载体文件。
可以理解，本申请的实施例对载体文件的获取途径不作限定。
本实施例中，识别模块70用于识别载体文件的格式。
可以理解，识别模块70可以通过识别载体文件的后缀名，确定载体文件的格式。
本实施例中，内容解析模块80用于解析对应格式的载体文件，获得多个位置坐标数据。
可以理解，农机信息共享系统300可以包括多个内容解析模块80。处理器 10可以根据载体文件的格式选取对应的内容解析模块80，对载体文件进行解析。
本实施例中，分类模块90用于根据分类模型确定位置坐标数据的数据类型。
提取模块110用于在作业数据组中提取并调整直线数据组。
可以理解，上述的农机信息共享系统300中各个模块的划分仅用于举例说明，在其他的实施例中，可将农机信息共享系统300按照需要划分为不同的模块，以完成上述农机信息共享系统300的全部或部分功能。
在本申请实施例中各个模块的具体实现还可以对应参照图1至图7所示的方法实施例的相应描述。
图9所描述的农机信息共享系统300，可以将位置坐标数据保存在现有且公知格式的载体文件中，且可以对源自不同品牌、型号的农机100或电子设备200导出的载体文件进行解析，获得位置坐标数据，可以实现对多种农机100的作业信息的共享。具体内容可以参见上述农机信息共享方法的具体实施例，在此不再详述。
在图1所描述的电子设备200可以包括上述的农机信息共享系统300，该农机信息共享系统300具体请参见图9示出的实施例的具体描述，在此不再赘述。
基于同一构思，本申请实施例还提供一种存储介质，存储介质包括计算机指令，当计算机指令在电子设备200上运行时，使得电子设备200执行本申请实施例提供的农机信息共享方法。
对于本领域技术人员而言，显然本申请不限于上述示范性实施例的细节，而且在不背离本申请的精神或基本特征的情况下，能够以其他的具体形式实现本申请。因此，无论从哪一点来看，均应将本申请上述的实施例看作是示范性的，而且是非限制性的，本申请的范围由所附权利要求而不是上述说明限定，因此旨在将落在权利要求的等同要件的含义和范围内的所有变化涵括在本申请内。

Claims (12)

  1. 一种农机信息共享方法，用于实现多个农机对应的位置坐标数据的共享，所述位置坐标数据对应于所述农机的轨迹路线和/或工作区域，其特征在于，所述农机信息共享方法包括：
    获取载体文件，其中，所述载体文件包括多个所述位置坐标数据；
    根据所述载体文件的格式，选用对应的内容解析模块解析所述载体文件，获得多个所述位置坐标数据；
    根据分类模型确定所述位置坐标数据的数据类型，其中，所述数据类型包括作业数据；
    提取所述作业数据对应的所述位置坐标数据中，形成直线轨迹的多个所述位置坐标数据，产生直线数据组。
  2. 如权利要求1所述的农机信息共享方法，其特征在于，根据所述分类模型确定多个所述位置坐标数据的数据类型时，所述农机信息共享方法包括：
    根据至少一组所述位置坐标数据计算至少一组特征数据，其中，一组所述位置坐标数据包括多个所述位置坐标数据；
    根据机器学习方法产生的所述分类模型，确定至少一组所述特征数据对应的所述数据类型。
  3. 如权利要求2所述的农机信息共享方法，其特征在于，一组所述位置坐标数据对应于一组坐标点，提取所述作业数据对应的所述位置坐标数据中，形成直线轨迹的多个所述位置坐标数据，产生直线数据组时，所述农机信息共享方法包括：
    删除所述作业数据对应的所述位置坐标数据中的差错数据，其中，所述差错数据包括噪声数据和杂波数据；
    根据剩余的所述位置坐标数据对应的所述坐标点中，相邻的所述坐标点连线的角度，对剩余的所述位置坐标数据分组，产生所述直线数据组。
  4. 如权利要求3所述的农机信息共享方法，其特征在于，根据剩余的所述位置坐标数据对应的所述坐标点中，相邻的所述坐标点连线的角度，对剩余的所述位置坐标数据分组，产生所述直线数据组时，所述农机信息共享方法包括：
    根据相邻的所述坐标点对应的所述位置坐标数据计算多个连线角度，其中， 所述连线角度为相邻的所述坐标点连接形成的向量的反正切值对应的角度；
    计算多个所述连线角度除以预设的角度阈值的多个计算结果；
    将多个所述计算结果中，整数部分相同的所述连线角度对应的所述位置坐标数据分为相同子组别，整数部分不同的所述连线角度对应的所述位置坐标数据分为不同子组别；
    确定包含所述位置坐标数据最多的子组别为所述直线数据组。
  5. 如权利要求4所述的农机信息共享方法，其特征在于，提取所述作业数据对应的所述位置坐标数据中，形成直线轨迹的多个所述位置坐标数据，产生直线数据组时，所述农机信息共享方法还包括：
    在所述直线数据组对应的多个所述坐标点中，根据相邻的三个所述坐标点对应的所述位置坐标数据，计算三个所述坐标点的拟合圆的拟合半径；
    确定所述拟合半径是否小于所述农机的转弯半径；
    若所述拟合半径小于所述农机的转弯半径，则移除三个相邻的所述坐标点中，排序末位的所述坐标点对应的所述位置坐标数据。
  6. 如权利要求1所述的农机信息共享方法，其特征在于，根据所述载体文件的格式，选用对应的内容解析模块解析所述载体文件，获得多个所述位置坐标数据时，所述农机信息共享方法包括：
    根据所述载体文件的后缀名，确定所述载体文件的格式是否为可识别的格式；
    若所述载体文件的格式为可识别的格式，则根据所述载体文件的格式，选用对应的所述内容解析模块解析所述载体文件。
  7. 如权利要求1所述的农机信息共享方法，其特征在于，所述农机信息共享方法还包括：
    获取多组所述位置坐标数据，其中，一组所述位置坐标数据包括多个所述位置坐标数据；
    根据多组所述位置坐标数据计算多组特征数据；
    获取多组所述位置坐标数据及多组所述特征数据对应的所述数据类型；
    输入所述数据类型和对应的所述特征数据给所述分类模型；
    根据机器学习方法训练所述分类模型。
  8. 如权利要求1所述的农机信息共享方法，其特征在于，所述农机信息共享 方法还包括：
    根据所选的所述载体文件的格式，生成所述载体文件。
  9. 如权利要求2所述的农机信息共享方法，其特征在于，一组所述位置坐标数据对应于一组坐标点，一组所述坐标点包括坐标起点和坐标终点，所述坐标起点为一组所述坐标点中第一个所述坐标点，所述坐标终点为一组所述坐标点中最后一个所述坐标点，所述特征数据包括坐标点个数、极值点个数、轨迹长度、端点距离、面积、掉头次数、闭合参数、开口参数和交点个数；
    所述坐标点个数对应于一组所述坐标点数量；
    所述极值点个数对应于一组所述坐标点中，多个所述坐标点连线形成轨迹的延伸方向，从远离所述坐标起点的方向转变至靠近所述坐标起点的方向，及从靠近所述坐标起点的方向转变至远离所述坐标终点的方向的次数；
    所述轨迹长度对应于一组所述坐标点依次连线产生的折线段的长度；
    所述端点距离对应于一组所述坐标点中，所述坐标起点和所述坐标终点之间的距离；
    所述面积对应于一组所述坐标点依次连线形成的封闭多边形的面积；
    所述掉头次数对应于一组所述坐标点中，一所述坐标点与所述坐标起点的连线的角度，及相邻的另一所述坐标点与所述坐标起点的连线的角度之间的差值大于180度的次数；
    所述闭合参数对应于一组所述坐标点中，所述坐标起点与所述坐标终点的间距是否小于预设阈值；
    所述开口参数对应于一组所述坐标点中，所述坐标起点与所述坐标终点的间距是否大于另一预设阈值；
    所述交点个数对应于一组所述坐标点中，各所述坐标点依序连接形成的折线，及所述坐标起点与所述坐标终点连接形成的线段之间交点的个数。
  10. 一种农机信息共享系统，其特征在于，用于实现如权利要求1至9中任一项所述的农机信息共享方法，所述农机信息共享系统包括：
    获取模块，用于获取载体文件，其中，所述载体文件包括多个位置坐标数据；
    内容解析模块，用于解析对应格式的所述载体文件，获得多个所述位置坐标数据；
    分类模块，用于根据分类模型确定所述位置坐标数据的数据类型，其中，所述数据类型包括作业数据；
    提取模块，用于提取所述作业数据对应的所述位置坐标数据中，形成直线轨迹的多个所述位置坐标数据，产生直线数据组。
  11. 一种电子设备，其特征在于，包括：
    存储器，用于存储计算机程序；
    处理器，用于执行所述存储器存储的所述计算机程序，当所述计算机程序被执行时，所述处理器用于执行如权利要求1至9中任一项所述的农机信息共享方法。
  12. 一种存储介质，其特征在于，所述存储介质包括计算机指令，当所述计算机指令在电子设备上运行时，使得所述电子设备执行如权利要求1至9中任一项所述的农机信息共享方法。
PCT/CN2022/140885 2022-05-20 2022-12-22 农机信息共享方法、系统、电子设备及存储介质 WO2023221501A1 (zh)

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