CN107415947B - A kind of transport vehicle follows the method and device of harvester automatically - Google Patents

A kind of transport vehicle follows the method and device of harvester automatically Download PDF

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Publication number
CN107415947B
CN107415947B CN201710538394.XA CN201710538394A CN107415947B CN 107415947 B CN107415947 B CN 107415947B CN 201710538394 A CN201710538394 A CN 201710538394A CN 107415947 B CN107415947 B CN 107415947B
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transport vehicle
harvester
speed
relative distance
module
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CN107415947A (en
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方啸
郑嘉伟
王业球
贡军
王新果
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Anhui Modern Agricultural Equipment Industry Technology Inst Co Ltd
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Anhui Modern Agricultural Equipment Industry Technology Inst Co Ltd
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B60W2720/106—Longitudinal acceleration

Abstract

The present invention provides a kind of methods that transport vehicle follows harvester automatically, comprising: obtains the relative distance of harvester speed, transport vehicle speed and harvester unloading grain tube and transport vehicle rear deck predeterminated position；Harvester speed and transport vehicle speed based on acquisition calculate the relative velocity of harvester and transport vehicle, and are based on the relative distance, judge whether current operation is efficient loading, if being judged as invalid loading, generate Distance Judgment result based on the relative distance；If being judged as efficient loading, it is based on the relative velocity formation speed judging result；The Distance Judgment is obtained as a result, executing the mobility operation that transport vehicle acceleration is maximum value if velocity estimated result is that the relative distance is greater than zero；If Distance Judgment result is the relative distance less than zero, the mobility operation that adjustment transport vehicle acceleration is minimum value is executed.The present invention can free transport vehicle driver work, and solves the problems, such as because transport vehicle driver driving it is improper caused by crop neglected loading phenomenon.

Description

A kind of transport vehicle follows the method and device of harvester automatically
Technical field
The invention belongs to agricultural technology field, specific patent of invention is related to the side that a kind of transport vehicle follows harvester automatically Method and device.
Background technique
During harvester operation, generally requires a transport vehicle (usually truck) and follow by harvester, will receive The crop of cutting mill harvesting is loaded.I.e. existing harvester one-stop operation is both needed to two drivers and fulfils assignment, a driver Harvester is driven, for gathering in crop, a driver drives transport vehicle, for loading crop.For transport vehicle driver, It needs transport vehicle moment keeping consistent with harvester speed, and spacing remains in a certain range, if transporting in operation process Vehicle driver's misoperation, it will cause crop neglected loading phenomenon.Therefore, it is necessary to the technologies that a kind of transport vehicle follows harvester automatically Scheme, with free transport vehicle driver work, solve because transport vehicle driver drive it is improper caused by crop neglected loading phenomenon.
Summary of the invention
The purpose of the present invention is to provide the method and devices that a kind of transport vehicle automatic Pilot follows harvester, can be used for paddy All kinds of harvesting processes such as class, beans promote entrucking efficiency, mitigate, free transport vehicle driver's task.
The present invention provides a kind of methods that transport vehicle follows harvester automatically, comprising:
Obtain harvester speed, transport vehicle speed and harvester unloading grain tube and transport vehicle rear deck predeterminated position it is opposite away from From；Wherein, when setting harvester unloading grain tube in front of transport vehicle rear deck predeterminated position based on transport vehicle driving direction relative distance as Just, harvester unloading grain tube relative distance at transport vehicle rear deck predeterminated position rear is negative；
Harvester speed and transport vehicle speed based on acquisition calculate the relative velocity of harvester and transport vehicle, and are based on institute Relative distance is stated, judges whether current operation is efficient loading, if being judged as invalid loading, distance is generated based on relative distance and is sentenced Disconnected result；If being judged as efficient loading, it is based on relative velocity formation speed judging result；Distance Judgment is obtained as a result, if speed Judging result is that relative distance is greater than zero, executes the mobility operation that transport vehicle acceleration is maximum value；If Distance Judgment result is Relative distance executes the mobility operation that adjustment transport vehicle acceleration is minimum value less than zero.
Further, this method further include: acquisition speed judging result executes transport vehicle if velocity estimated result is zero The mobility operation that acceleration is zero；If velocity estimated result is not zero, the mobility operation of adjustment transport vehicle acceleration is executed, to protect It is consistent with the speed of harvester to hold transport vehicle.
Further, judge whether current operation is that efficient loading includes: based on relative distance
Judge whether relative distance △ s is greater than-L/2 and is less than L/2, if so, being judged as efficient loading, if it is not, then sentencing Break to load in vain；Wherein, L is transport vehicle rear deck length, and predeterminated position is L/2 apart from transport vehicle rear deck longitudinal separation.
Further, the mobility operation of execution adjustment transport vehicle acceleration includes:
Execution acceleration is a=Δ v2The mobility operation of/Δ s, wherein relative velocity △ v=v1-v2, v1For harvester speed Degree, v2To transport vehicle speed v2。
The present invention also provides the device that a kind of transport vehicle follows harvester automatically, including it is first communication module, second logical Letter module, computing module and execution module, first communication module are arranged in harvester unloading grain tube equipped at outlet port, second communication module Be arranged in transport vehicle rear deck middle, computing module and execution module are arranged in transport vehicle cockpit, first communication module with Second communication module communication, first communication module and second communication module are communicated with computing module, computing module and execution module Communication, execution module are communicated with the vehicle speed control system of transport vehicle；
First communication module is for obtaining harvester speed；Second communication module is for obtaining transport vehicle speed；Second is logical Letter module obtains the relative distance of harvester unloading grain tube and transport vehicle rear deck predeterminated position by communicating with first communication module；Its In, relative distance is positive when setting harvester unloading grain tube in front of transport vehicle rear deck predeterminated position based on transport vehicle driving direction, receives Cutting mill unloading grain tube relative distance at transport vehicle rear deck predeterminated position rear is negative；
Computing module for based on acquisition harvester speed and transport vehicle speed calculate the opposite of harvester and transport vehicle Speed, and the range information based on acquisition calculates the relative distance of harvester unloading grain tube and transport vehicle rear deck predeterminated position, according to Relative distance judges whether current operation is efficient loading, if being judged as invalid loading, generates Distance Judgment based on relative distance As a result；If being judged as efficient loading, it is based on relative velocity formation speed judging result；
Execution module executes transport for obtaining Distance Judgment as a result, if velocity estimated result is that relative distance is greater than zero Vehicle acceleration is the mobility operation of maximum value；If Distance Judgment result is the relative distance less than zero, adjustment transport vehicle is executed Acceleration is the mobility operation of minimum value.
Further, execution module is also used to:
Acquisition speed judging result executes the mobility operation that transport vehicle acceleration is zero if velocity estimated result is zero；If Velocity estimated result is not zero, and the mobility operation of adjustment transport vehicle acceleration is executed, to keep the speed of transport vehicle and harvester Unanimously.
Further, computing module is specifically used for:
Judge whether relative distance △ s is greater than-L/2 and is less than L/2, if so, being judged as efficient loading, if it is not, then sentencing Break to load in vain；Wherein, L is transport vehicle rear deck length, and predeterminated position is L/2 apart from transport vehicle rear deck longitudinal separation.
Further, execution module is specifically used for:
Execution acceleration is a=Δ v2The mobility operation of/Δ s, wherein relative velocity △ v=v1-v2, v1For harvester speed Degree, v2To transport vehicle speed v2。
Further, first communication module and second communication module use DSRC module.
Compared with prior art the beneficial effects of the present invention are: transport vehicle driver work can be freed through the invention, And solve the problems, such as because transport vehicle driver drive it is improper caused by crop neglected loading phenomenon.
Detailed description of the invention
Fig. 1 is the flow chart for one preferred embodiment of method that a kind of transport vehicle automatic Pilot of the present invention follows harvester；
Fig. 2 is the arrangement schematic diagram for the device that a kind of transport vehicle automatic Pilot of the present invention follows harvester.
Specific embodiment
The present invention is described in detail for each embodiment shown in reference to the accompanying drawing, but it should be stated that, these Embodiment is not limitation of the present invention, those of ordinary skill in the art according to these embodiments made by function, method, Or equivalent transformation or substitution in structure, all belong to the scope of protection of the present invention within.
Join shown in Fig. 1 and Fig. 2, a preferred embodiment of the present invention utilizes two DSRC (dedicated short-range communication technology) modules Realize that harvester is communicated with transport vehicle, by obtaining the relative velocity of harvester and transport vehicle, harvester unloading grain tube and transport vehicle The relative distance of rear deck realizes that transport vehicle follows automatically.
As shown in Figure 1, harvester 1, is used for harvesting；Harvester unloading grain tube 2 (is also throwing device), for throwing crop It send to transport vehicle；Loader transporter vehicle 3, for loading harvesting crop；DSRC module 4 (first communication module) is mounted on unloading grain tube Equipped at outlet port, DSRC module 5 (second communication module) is mounted on transport vehicle rear deck middle, and (transport vehicle rear deck length is L, DSRC Module 5 is L/2 apart from rear deck longitudinal separation)；Vehicle computing center 6 (computing module), for receiving the transmission of DSRC module Data, and calculate the relative velocity △ v of harvester and transport vehicle, receive harvester unloading grain tube and transport vehicle rear deck it is opposite away from From △ s；The actuator 7 (execution module) of transport vehicle, for controlling transport vehicle speed.
The present embodiment is communicated using DSRC, obtains harvester and transport vehicle velocity information, harvester unloading grain tube and transport vehicle Rear deck range information, and relative velocity, relative distance are accurately calculated, added automatically using actuator realization transport vehicle, subtracted Speed, and then driver is replaced to operate vehicle, crop neglected loading phenomenon caused by avoiding because of driver's misoperation improves crop dress Carry efficiency.
As shown in Fig. 2, the present embodiment transport vehicle follows the realization step of the method for harvester to include: automatically
The communication of step 1:DSRC module.
The present embodiment realizes the communication of harvester and transport vehicle using two DSRC modules.The installation position of two DSRC modules It sets as shown in Figure 1.In operation process, two DSRC modules communicate real-time perfoming, and DSRC module 4 is by the speed v of harvester1Hair Vehicle computing center 6 is given, meanwhile, DSRC module 5 is by the speed v of transport vehicle2It is sent to vehicle computing center 6, DSRC module 5 By communicating to obtain the relative distance △ s between DSRC module 4 and DSRC module 5 with DSRC module 4, and by relative distance information It is sent to vehicle computing center 6.The present embodiment sets the △ s at 5 front of module DSRC of DSRC module 4 and is positive, and DSRC module 4 exists △ s is negative when 5 rear of module DSRC, i.e. △ s>0 indicates DSRC module 4 in 5 front of DSRC module, and △ s<0 indicates DSRC module 4 At 5 rear of DSRC module, △ s=0 indicates that DSRC module 4 is synchronous with DSRC module position.In next step.
Step 2: relative velocity calculates
Vehicle computing center 6 is receiving harvester speed v1, transport vehicle speed v2Afterwards, two vehicle relative velocities will be calculated, calculated Method are as follows: △ v=v1-v2.When △ v>0 indicates that harvester speed is greater than transport vehicle, when △ v<0 indicates that harvester speed is less than fortune Defeated vehicle, when △ v=0 indicates harvester and transport vehicle speed sync.In next step.
Step 3: judging whether effectively to load
Make at present after receiving harvester unloading grain tube and transport vehicle rear deck relative distance △ s, by judgement at vehicle computing center 6 Whether industry is efficient loading.Judgment mode is to judge whether △ s is greater than-L/2 and is less than L/2, i.e.-L/2 < △ s < L/2.If It is to indicate that current operation is efficient loading, then it is, in next step, no, then, execute step 5.
Step 4: the adjustment of efficient loading speed
When operation be efficient loading when, judge whether relative velocity △ v is 0, if △ v=0, indicate current harvester with Transport vehicle speed sync, vehicle computing center 6 will send the transport vehicle acceleration information of a=0 to actuator 7, and actuator 7 is connecing The mobility operation that acceleration is a=0 will be executed after receiving acceleration information, that is, keeps current velocity Huo existing speed traveling.If v ≠ 0 △, It indicates that current harvester is asynchronous with transport vehicle speed, although current state is efficient loading, will occur nothing over time Effect loads.Under the state, vehicle computing center 6 will send a=△ v2The transport vehicle acceleration information of/△ s is held to actuator 7 It is a=△ v that row device 7 will execute acceleration after receiving acceleration information2The mobility operation of/△ s, that is, to transport vehicle speed It is adjusted, to keep consistent with harvester speed.Repeat step 1.
Step 5: invalid load wagon velocity modulation is whole
When operation is invalid loads, shows that current state crop just throws to outside transport vehicle, neglected loading phenomenon occur.To subtract It is lost caused by few neglected loading, has been not necessarily to be finely adjusted transport vehicle acceleration as step 4, it is necessary to all one's effort acceleration or deceleration, To reduce loss caused by neglected loading.At this point, vehicle computing center 6 is by the positive and negative carry out acceleration, deceleration adjustment to △ s.If △ s > 0, show transport vehicle current position at harvester rear, vehicle computing center 6 will send a=amaxTransport vehicle acceleration information (a be indicated to actuator 7maxThe peak acceleration of haulage vehicle), actuator 7 will execute acceleration after receiving acceleration information Degree is a=amaxMobility operation, that is, give it the gun with all strength.If s < 0 △, show transport vehicle current position before harvester Side, 6. vehicle computing center will send a=aminTransport vehicle acceleration information give actuator 7 (indicate aminHaulage vehicle is most Big retarding degree), it is a=a that actuator 7 will execute acceleration after receiving acceleration informationminMobility operation, that is, subtract with all strength Speed.Repeat step 1.
The present embodiment follows the method and device of harvester by providing a kind of transport vehicle automatically, has following technology effect Fruit:
1) harvester unloading grain tube position opposite with transport vehicle rear deck is accurately calculated using DSRC communication module, vehicle computing center Set, harvester and transport vehicle relative velocity, traditional driver replaced to visually observe distance and speed mode, reduce driver because Phenomenon is thrown in leakage caused by the error of observation.
2) automatic Pilot is realized using to transport vehicle Acceleration Control, liberated driver's task.
3) it realizes transport vehicle to follow automatically, accurately follow harvester operation, caused by reducing driver because of misoperation Leakage throw loss.
The series of detailed descriptions listed above only for feasible embodiment of the invention specifically Protection scope bright, that they are not intended to limit the invention, it is all without departing from equivalent implementations made by technical spirit of the present invention Or change should all be included in the protection scope of the present invention.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims Variation is included within the present invention.

Claims (9)

1. a kind of method that transport vehicle follows harvester automatically characterized by comprising
Obtain the relative distance of harvester speed, transport vehicle speed and harvester unloading grain tube and transport vehicle rear deck predeterminated position； Wherein, when setting harvester unloading grain tube in front of transport vehicle rear deck predeterminated position based on transport vehicle driving direction the relative distance as Just, harvester unloading grain tube relative distance at transport vehicle rear deck predeterminated position rear is negative；
Harvester speed and transport vehicle speed based on acquisition calculate the relative velocity of harvester and transport vehicle, and are based on the phase It adjusts the distance, judges whether current operation is efficient loading, if being judged as invalid loading, distance is generated based on the relative distance and is sentenced Disconnected result；If being judged as efficient loading, it is based on the relative velocity formation speed judging result；
The Distance Judgment is obtained as a result, executing transport vehicle acceleration if velocity estimated result is that the relative distance is greater than zero For the mobility operation of maximum value；If Distance Judgment result is the relative distance less than zero, executing adjustment transport vehicle acceleration is The mobility operation of minimum value.
2. the method that a kind of transport vehicle according to claim 1 follows harvester automatically, which is characterized in that further include:
The velocity estimated is obtained as a result, executing the mobility operation that transport vehicle acceleration is zero if velocity estimated result is zero；If Velocity estimated result is not zero, and the mobility operation of adjustment transport vehicle acceleration is executed, to keep the speed of transport vehicle and harvester Unanimously.
3. the method that a kind of transport vehicle according to claim 1 or 2 follows harvester automatically, which is characterized in that the base Judge whether current operation is that efficient loading includes: in the relative distance
Judge whether relative distance Δ s is greater than-L/2 and is less than L/2, if so, being judged as efficient loading, if it is not, being then judged as It is invalid to load；Wherein, L is transport vehicle rear deck length, and the predeterminated position is L/2 apart from transport vehicle rear deck longitudinal separation.
4. the method that a kind of transport vehicle according to claim 3 follows harvester automatically, which is characterized in that described to execute tune The mobility operation of whole transport vehicle acceleration includes:
Execution acceleration is a=Δ v2The mobility operation of/Δ s, wherein relative velocity Δ v=v1-v2, v1For harvester speed, v2 To transport vehicle speed.
5. the device that a kind of transport vehicle follows harvester automatically, which is characterized in that including first communication module, the second communication mould Block, computing module and execution module, the first communication module are arranged in harvester unloading grain tube equipped at outlet port, second communication Module arrangement is arranged in transport vehicle cockpit in transport vehicle rear deck middle, the computing module and execution module, and described One communication module is communicated with the second communication module, the first communication module and second communication module and the computing module Communication, the computing module are communicated with the execution module, and the execution module is communicated with the vehicle speed control system of transport vehicle；
The first communication module is for obtaining harvester speed；The second communication module is for obtaining transport vehicle speed；Institute It states second communication module and obtains harvester unloading grain tube and transport vehicle rear deck predeterminated position by communicating with the first communication module Relative distance；Wherein, harvester unloading grain tube when institute in front of transport vehicle rear deck predeterminated position is set based on transport vehicle driving direction It states relative distance to be positive, harvester unloading grain tube relative distance at transport vehicle rear deck predeterminated position rear is negative；
The computing module for based on acquisition harvester speed and transport vehicle speed calculate the opposite of harvester and transport vehicle Speed, and the range information based on acquisition calculates the relative distance of harvester unloading grain tube and transport vehicle rear deck predeterminated position, according to The relative distance judges whether current operation is efficient loading, if being judged as invalid loading, is generated based on the relative distance Distance Judgment result；If being judged as efficient loading, it is based on the relative velocity formation speed judging result；
The execution module for obtain the Distance Judgment as a result, if velocity estimated result be the relative distance be greater than zero, Execute the mobility operation that transport vehicle acceleration is maximum value；If Distance Judgment result is the relative distance less than zero, tune is executed Whole transport vehicle acceleration is the mobility operation of minimum value.
6. the device that a kind of transport vehicle according to claim 5 follows harvester automatically, which is characterized in that the execution mould Block is also used to:
The velocity estimated is obtained as a result, executing the mobility operation that transport vehicle acceleration is zero if velocity estimated result is zero；If Velocity estimated result is not zero, and the mobility operation of adjustment transport vehicle acceleration is executed, to keep the speed of transport vehicle and harvester Unanimously.
7. the device that a kind of transport vehicle according to claim 5 or 6 follows harvester automatically, which is characterized in that the meter Module is calculated to be specifically used for:
Judge whether relative distance Δ s is greater than-L/2 and is less than L/2, if so, being judged as efficient loading, if it is not, being then judged as It is invalid to load；Wherein, L is transport vehicle rear deck length, and the predeterminated position is L/2 apart from transport vehicle rear deck longitudinal separation.
8. the device that a kind of transport vehicle according to claim 7 follows harvester automatically, which is characterized in that the execution mould Block is specifically used for:
Execution acceleration is a=Δ v2The mobility operation of/Δ s, wherein relative velocity Δ v=v1-v2, v1For harvester speed, v2 To transport vehicle speed.
9. the device that a kind of transport vehicle according to claim 5 follows harvester automatically, which is characterized in that described first is logical Believe that module and second communication module use DSRC module.
CN201710538394.XA 2017-05-22 2017-07-04 A kind of transport vehicle follows the method and device of harvester automatically Active CN107415947B (en)

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CN110232493B (en) * 2019-04-09 2021-07-30 丰疆智能科技股份有限公司 Intelligent matching system and method for harvester and logistics vehicle
CN114013440A (en) * 2021-12-06 2022-02-08 吉林大学 Double-agricultural-machine harvesting and transportation synchronization system and method

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